Add test for bootstrap

test/gtest_imu.cpp

@@ -1539,10 +1539,32 @@ TEST_F(Process_Factor_Imu_ODO, RecoverTrajectory_MotionRandom_PqV_b__pqV_b) // F
 
 }
 
+TEST_F(Process_Factor_Imu, bootstrap)
+{
+    processor_imu->setVotingActive(true);
+    processor_imu->setMaxBuffLength(20);
+
+    auto KF0 = problem->emplaceFrame(0.0);
+    problem->keyFrameCallback(KF0,nullptr);
+    problem->print(4, 0, 1, 0);
+
+    // Vector6d data(0,0,9.806, 0,0,0); // gravity on Z
+    Vector6d data(0,9.806,0, 0,0,0); // gravity on Y
+
+    capture_imu = std::make_shared<CaptureImu>(0.0, sensor_imu, data, Matrix6d::Identity());
+
+    for (t = 0.0; t < 1.0; t += dt)
+    {
+        capture_imu->setTimeStamp(t);
+        capture_imu->process();
+        problem->print(4, 0, 1, 0);
+    }
+}
+
 int main(int argc, char **argv)
 {
     testing::InitGoogleTest(&argc, argv);
-    //    ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu.*";
+    //    ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu.bootstrap";
     //    ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu_ODO.*";
     //    ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu_ODO.RecoverTrajectory_MotionRandom_PqV_b__pqV_b";