From 9fdc71d1eed163b3884ad977a7f304d164977dc4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 3 Nov 2021 12:15:51 +0100
Subject: [PATCH] hotfixes
---
test/gtest_imu_mocap_fusion.cpp | 8 ++++----
test/processor_imu_UnitTester.h | 11 -----------
2 files changed, 4 insertions(+), 15 deletions(-)
diff --git a/test/gtest_imu_mocap_fusion.cpp b/test/gtest_imu_mocap_fusion.cpp
index c753366d6..a22d2893b 100644
--- a/test/gtest_imu_mocap_fusion.cpp
+++ b/test/gtest_imu_mocap_fusion.cpp
@@ -33,7 +33,7 @@ using namespace wolf;
const Vector3d zero3 = Vector3d::Zero();
const double dt = 0.001;
-const bool WRITE_CSV = false;
+#define WRITE_CSV false
void printingFactorErrors(ProblemPtr pbe){
@@ -232,8 +232,8 @@ class ImuMocapFusion_Test : public testing::Test
std::string report = solver_->solve(SolverManager::ReportVerbosity::BRIEF);
nb_kf = problem_->getTrajectory()->getFrameMap().size();
- Vector6d imu_bias = sensor_imu_->getIntrinsic()->getState();
#ifdef WRITE_CSV
+ Vector6d imu_bias = sensor_imu_->getIntrinsic()->getState();
file_bias << std::setprecision(std::numeric_limits<long double>::digits10 + 1)
<< t << ","
<< imu_bias(0) << ","
@@ -252,7 +252,7 @@ class ImuMocapFusion_Test : public testing::Test
#ifdef WRITE_CSV
file_gtr.close();
file_bias.close();
- #endif WRITE_CSV
+ #endif
}
@@ -338,4 +338,4 @@ int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}
diff --git a/test/processor_imu_UnitTester.h b/test/processor_imu_UnitTester.h
index f9990707c..8fbc98399 100644
--- a/test/processor_imu_UnitTester.h
+++ b/test/processor_imu_UnitTester.h
@@ -108,17 +108,6 @@ namespace wolf {
jacobian_delta_ = Eigen::MatrixXd::Zero(9,9);
}
- Imu_jac_deltas(Imu_jac_deltas const & toCopy){
-
- Delta_noisy_vect_ = toCopy.Delta_noisy_vect_;
- delta_noisy_vect_ = toCopy.delta_noisy_vect_;
-
- Delta0_ = toCopy.Delta0_;
- delta0_ = toCopy.delta0_;
- jacobian_delta_preint_ = toCopy.jacobian_delta_preint_;
- jacobian_delta_ = toCopy.jacobian_delta_;
- }
-
public:
/*The following vectors will contain all the matrices and deltas needed to compute the finite differences.
Elements at place 0 are those not affected by the bias noise that we add (Delta_noise, delta_noise -> dPx, dpx, dVx, dvx,..., dOz,doz).
--
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