Update gtest_processor_motion_intrinsics_update.cpp

test/gtest_processor_motion_intrinsics_update.cpp

@@ -66,7 +66,6 @@ class ProcessorImuTest : public testing::Test
             // params and processor
             params_ = std::make_shared<ParamsProcessorImu>();
             params_->voting_active = true;
-            params_->voting_aux_active = false;
             params_->max_time_span = 0.9999;  // create one KF every second
             params_->max_buff_length = 1000000000;
             params_->dist_traveled = 100000000000;
@@ -150,8 +149,12 @@ TEST_F(ProcessorImuTest, test1)
 }
 
 
+/**
+ *  SET TO TRUE  TO PRODUCE CSV FILE
+ *  SET TO FALSE TO STOP PRODUCING CSV FILE
+ */
+#define WRITE_CSV_FILE  false
 
-//#define WRITE_CSV_FILE // COMMENT OUT THIS LINE TO AVOID PRODUCING CSV FILE
 TEST_F(ProcessorImuTest, getState)
 {
     Matrix6d data_cov; data_cov. setIdentity();
@@ -166,7 +169,7 @@ TEST_F(ProcessorImuTest, getState)
     double dt(0.1);
     int nb_kf = 1;
 
-#ifdef WRITE_CSV_FILE
+#if WRITE_CSV_FILE
     std::fstream file_est; 
     file_est.open("./est.csv", std::fstream::out);
 //    std::string header_est = "t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,bax_est,bax_preint\n";
@@ -182,7 +185,7 @@ TEST_F(ProcessorImuTest, getState)
         std::cout << "t " << t << "; cap id " << sensor_->findLastCaptureBefore(t) << "; cap ts " << sensor_->findLastCaptureBefore(t)->getTimeStamp() << std::endl;
 
 
-#ifdef WRITE_CSV_FILE
+#if WRITE_CSV_FILE
         // pre-solve print to CSV
         VectorComposite state = problem_->getState(t);
         VectorXd calib_estim = sensor_->getIntrinsic(t)->getState();
@@ -205,7 +208,7 @@ TEST_F(ProcessorImuTest, getState)
 
             nb_kf = problem_->getTrajectory()->getFrameMap().size();
 
-#ifdef WRITE_CSV_FILE
+#if WRITE_CSV_FILE
             // post-solve print to CSV with time-stamp shifted by dt/2 to separate from pre-solve  result
             state = problem_->getState(t);
             calib_estim = sensor_->getIntrinsic(t)->getState();
@@ -221,7 +224,7 @@ TEST_F(ProcessorImuTest, getState)
         t += dt;
     }
 
-#ifdef WRITE_CSV_FILE
+#if WRITE_CSV_FILE
     file_est.close();
 #endif
 }