hotfixes

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

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).