[skip ci] wip

include/imu/sensor/sensor_imu.h

@@ -40,11 +40,15 @@ class SensorImu : public SensorBase
 
   public:
     SensorImu(const YAML::Node &_params)
-        : SensorBase("SensorImu" + std::to_string(DIM) + "d",
-                     DIM,
-                     (DIM == 2 ? TypeComposite{{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'I', "StateParams3"}, {'G', "StateParams1"}}
-                               : TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}, {'I', "StateParams6"}}),
-                     _params)
+        : SensorBase(
+              "SensorImu" + std::to_string(DIM) + "d",
+              DIM,
+              (DIM == 2 ? TypeComposite{{'P', "StatePoint2d"},
+                                        {'O', "StateAngle"},
+                                        {'I', "StateParams3"},
+                                        {'G', "StateParams2"}}
+                        : TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}, {'I', "StateParams6"}}),
+              _params)
     {
         static_assert(DIM == 2 or DIM == 3);
 

schema/sensor/SensorImu2d.schema

@@ -92,4 +92,9 @@ states:
   G: 
     _type: SensorImu2dGravity.schema
     _mandatory: false
+    _default:
+      dynamic: false
+      value: [0, 0]
+      prior:
+        mode: "initial_guess"
     _doc: "State for the projection of the gravity onto map XY plane. Only used if 'orthogonal_gravity' == false."
\ No newline at end of file

test/CMakeLists.txt

@@ -13,16 +13,16 @@ target_link_libraries(dummy ${PLUGIN_NAME})
 ############# USE THIS TEST AS AN EXAMPLE #################
 #                                                         #
 # Create a specific test executable for gtest_example     #
-wolf_add_gtest(gtest_example gtest_example.cpp)           #
+# wolf_add_gtest(gtest_example gtest_example.cpp)         #
 #                                                         #
 ###########################################################
 
 wolf_add_gtest(gtest_factor_compass_3d gtest_factor_compass_3d.cpp)
 
-wolf_add_gtest(gtest_factor_imu_2d_with_gravity gtest_factor_imu_2d_with_gravity.cpp)
-
 wolf_add_gtest(gtest_factor_imu_2d gtest_factor_imu_2d.cpp)
 
+wolf_add_gtest(gtest_factor_imu_2d_with_gravity gtest_factor_imu_2d_with_gravity.cpp)
+
 # Has been excluded from tests for god knows how long, so thing is broken.
 # Maybe call an archeologist to fix this thing?
 # wolf_add_gtest(gtest_factor_imu_3d gtest_factor_imu_3d.cpp)
@@ -33,6 +33,8 @@ wolf_add_gtest(gtest_imu_2d_static_init gtest_imu_2d_static_init.cpp)
 
 wolf_add_gtest(gtest_imu_2d_tools gtest_imu_2d_tools.cpp)
 
+wolf_add_gtest(gtest_imu_3d gtest_imu_3d.cpp)
+
 wolf_add_gtest(gtest_imu_3d_bootstrap gtest_imu_3d_bootstrap.cpp)
 
 wolf_add_gtest(gtest_imu_3d_mocap_fusion gtest_imu_3d_mocap_fusion.cpp)
@@ -41,16 +43,14 @@ wolf_add_gtest(gtest_imu_3d_static_init gtest_imu_3d_static_init.cpp)
 
 wolf_add_gtest(gtest_imu_3d_tools gtest_imu_3d_tools.cpp)
 
-wolf_add_gtest(gtest_imu_3d gtest_imu_3d.cpp)
+wolf_add_gtest(gtest_processor_imu_2d gtest_processor_imu_2d.cpp)
 
-wolf_add_gtest(gtest_processor_imu_3d_jacobians gtest_processor_imu_3d_jacobians.cpp)
-target_link_libraries(gtest_processor_imu_3d_jacobians PUBLIC dummy)
+wolf_add_gtest(gtest_processor_imu_2d_with_gravity gtest_processor_imu_2d_with_gravity.cpp)
 
 wolf_add_gtest(gtest_processor_imu_3d gtest_processor_imu_3d.cpp)
 
-wolf_add_gtest(gtest_processor_imu_2d_with_gravity gtest_processor_imu_2d_with_gravity.cpp)
-
-wolf_add_gtest(gtest_processor_imu_2d gtest_processor_imu_2d.cpp)
+wolf_add_gtest(gtest_processor_imu_3d_jacobians gtest_processor_imu_3d_jacobians.cpp)
+target_link_libraries(gtest_processor_imu_3d_jacobians PUBLIC dummy)
 
 wolf_add_gtest(gtest_processor_motion_intrinsics_update gtest_processor_motion_intrinsics_update.cpp)