diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8fa448312e146b9956a5c0396e0802f8c99dbf6..b32a36ea21f9332c366feb59d0e5ad45f88e35df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
# Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.16)
# MAC OSX RPATH
SET(CMAKE_MACOSX_RPATH 1)
diff --git a/include/imu/math/imu2d_tools.h b/include/imu/math/imu2d_tools.h
index dc126140ff15c1e4fcaa97231b515c6e66b6c6f3..f725aa9d5c21041e7713fab10fd11f7499a67474 100644
--- a/include/imu/math/imu2d_tools.h
+++ b/include/imu/math/imu2d_tools.h
@@ -183,7 +183,6 @@ inline void compose(const MatrixBase<D1>& d1,
Map<const Matrix<typename D2::Scalar, 2, 1> > dp2 ( & d2( 0 ) );
Map<const Matrix<typename D2::Scalar, 2, 1> > dv2 ( & d2( 3 ) );
Map<Matrix<typename D3::Scalar, 2, 1> > sum_p ( & sum( 0 ) );
- sum(2) = d1(2) + d2(2);
Map<Matrix<typename D3::Scalar, 2, 1> > sum_v ( & sum( 3 ) );
compose(dp1, d1(2), dv1, dp2, d2(2), dv2, dt, sum_p, sum(2), sum_v);
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 6209d341bcd32308bd522ab1990eb0cc82692012..f7bcca73296dc380b6c5232e6078c0e453e9b5a9 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,73 +1,31 @@
-if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
- message("CMake version less than 3.11.0")
- # Enable ExternalProject CMake module
- include(ExternalProject)
+include(FetchContent)
- set(GTEST_FORCE_SHARED_CRT ON)
- set(GTEST_DISABLE_PTHREADS ON) # without this in ubuntu 18.04 we get linking errors
+FetchContent_Declare(
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG main)
- # Download GoogleTest
- ExternalProject_Add(googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG v1.8.x
- # TIMEOUT 1 # We'll try this
- CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
- -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
- -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
- -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
- -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
- -DBUILD_GTEST=ON
- PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
- # Disable install step
- INSTALL_COMMAND ""
- UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
- )
+SET(INSTALL_GTEST OFF) # Disable installation of googletest
+FetchContent_MakeAvailable(googletest)
- # Get GTest source and binary directories from CMake project
-
- # Specify include dir
- ExternalProject_Get_Property(googletest source_dir)
- set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
-
- # Specify MainTest's link libraries
- ExternalProject_Get_Property(googletest binary_dir)
- set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
-
- # Create a libgtest target to be used as a dependency by test programs
- add_library(libgtest IMPORTED STATIC GLOBAL)
- add_dependencies(libgtest googletest)
-
- # Set libgtest properties
- set_target_properties(libgtest PROPERTIES
- "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
- "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
- )
-
-else()
-
- message("CMake version equal or greater than 3.11.0")
+function(wolf_add_gtest target)
+ add_executable(${target} ${ARGN})
+ target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
+ add_test(NAME ${target} COMMAND ${target})
+endfunction()
+include(FetchContent)
- include(FetchContent)
+FetchContent_Declare(
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG main)
- FetchContent_Declare(
- googletest
- GIT_REPOSITORY https://github.com/google/googletest.git
- GIT_TAG main)
+SET(INSTALL_GTEST OFF) # Disable installation of googletest
+FetchContent_MakeAvailable(googletest)
- SET(INSTALL_GTEST OFF) # Disable installation of googletest
- FetchContent_MakeAvailable(googletest)
-
-endif()
-
function(wolf_add_gtest target)
add_executable(${target} ${ARGN})
- if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
- add_dependencies(${target} libgtest)
- target_link_libraries(${target} libgtest ${PLUGIN_NAME})
- target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
- else()
- target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
- endif()
+ target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
add_test(NAME ${target} COMMAND ${target})
endfunction()
diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index db97ac421990fc3b5848f1878eb057a5e57324aa..8b56e378d438a83efea77268209571fe4fbd3352 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -81,15 +81,13 @@ class FeatureImu_test : public testing::Test
origin_frame = problem->setPriorFactor(x0, s0, t);
processor_motion_ptr_->setOrigin(origin_frame);
- // Emplace one capture to store the Imu data arriving from (sensor / callback / file / etc.)
+ // Create one capture to store the Imu data arriving from (sensor / callback / file / etc.)
// give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
- imu_ptr = std::static_pointer_cast<CaptureImu>(
- CaptureBase::emplace<CaptureImu>(origin_frame,
- t,
- sensor_ptr,
- data_,
- Eigen::Matrix6d::Identity(),
- Eigen::Vector6d::Zero().eval()) );
+ imu_ptr = std::make_shared<CaptureImu>( t,
+ sensor_ptr,
+ data_,
+ Eigen::Matrix6d::Identity(),
+ Eigen::Vector6d::Zero().eval());
//process data
data_ << 2, 0, 9.8, 0, 0, 0;
@@ -102,22 +100,21 @@ class FeatureImu_test : public testing::Test
// process data in capture
sensor_ptr->process(imu_ptr);
- //emplace Frame
- ts = problem->getTimeStamp();
- state_vec = problem->getState().vector(problem->getFrameStructure());
- last_frame = problem->emplaceFrame(ts, state_vec);
//emplace a feature
delta_preint = processor_motion_ptr_->getMotion().delta_integr_;
delta_preint_cov = processor_motion_ptr_->getMotion().delta_integr_cov_ + MatrixXd::Identity(9,9)*1e-08;
VectorXd calib_preint = processor_motion_ptr_->getLast()->getCalibrationPreint();
dD_db_jacobians = processor_motion_ptr_->getMotion().jacobian_calib_;
- feat_imu = FeatureBase::emplace<FeatureImu>(imu_ptr,
+ feat_imu = FeatureBase::emplace<FeatureImu>(processor_motion_ptr_->getOrigin(),
delta_preint,
delta_preint_cov,
calib_preint,
dD_db_jacobians,
- imu_ptr) ;
+ processor_motion_ptr_->getOrigin()) ;
+
+ problem->print(4,1,1,1);
+
}
void TearDown() override
@@ -155,7 +152,7 @@ TEST_F(FeatureImu_test, check_frame)
left_vptr = left_frame->getV();
ASSERT_MATRIX_APPROX(origin_pptr->getState(), left_pptr->getState(), wolf::Constants::EPS_SMALL);
- Eigen::Map<const Eigen::Quaterniond> origin_Quat(origin_optr->getState().data()), left_Quat(left_optr->getState().data());
+ Eigen::Quaterniond origin_Quat(origin_optr->getState().data()), left_Quat(left_optr->getState().data());
ASSERT_QUATERNION_APPROX(origin_Quat, left_Quat, wolf::Constants::EPS_SMALL);
ASSERT_MATRIX_APPROX(origin_vptr->getState(), left_vptr->getState(), wolf::Constants::EPS_SMALL);