new test to know how libraries are loaded

test/CMakeLists.txt

@@ -54,6 +54,8 @@ target_link_libraries(gtest_processor_imu_3d_jacobians PUBLIC dummy)
 
 wolf_add_gtest(gtest_processor_motion_intrinsics_update gtest_processor_motion_intrinsics_update.cpp)
 
+wolf_add_gtest(gtest_load_imu gtest_load_imu.cpp)
+
 wolf_add_gtest(gtest_schema gtest_schema.cpp)
 target_link_libraries(gtest_schema PUBLIC dummy)
 

test/gtest_factor_compass_3d.cpp

@@ -44,7 +44,8 @@ SolverManagerPtr solver =
 
 // Sensor
 auto sen = std::static_pointer_cast<SensorCompass>(
-    problem->installSensor(imu_dir + "/test/yaml/sensor_compass_3d.yaml", {imu_dir}));
+    problem->installSensor(imu_dir + "/test/yaml/sensor_compass_3d.yaml",
+                           {imu_dir}));  // override installed imu schema folder, use local folder instead
 
 // Frame
 FrameBasePtr frm = problem->emplaceFrame(0, "PO", (Vector7d() << 0, 0, 0, 0, 0, 0, 1).finished());

test/gtest_load_imu.cpp

+// WOLF - Copyright (C) 2020,2021,2022,2023,2024
+// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
+// Joan Vallvé Navarro (jvallve@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF: http://www.iri.upc.edu/wolf
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+// #include <core/utils/utils_gtest.h>
+#include "imu/utils/load_imu.h"
+
+WOLF_LOAD_IMU
+
+// This test is to check if when loading plugin imu, automatically core is loaded
+
+TEST(load_imu, DummyTestExample)
+{
+    EXPECT_FALSE(false);
+
+    ASSERT_TRUE(true);
+
+    int my_int = 5;
+
+    ASSERT_EQ(my_int, 5);
+
+    //  PRINTF("All good at TestTest::DummyTestExample !\n");
+}
+
+int main(int argc, char **argv)
+{
+    testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}