[skip ci] wip

include/imu/sensor/sensor_imu.h

@@ -55,9 +55,9 @@ struct ParamsSensorImu : public ParamsSensorBase
 
     std::string print() const override
     {
-        return ParamsSensorBase::print() + "\n" + "w_noise: " + std::to_string(w_noise) + "\n" +
-               "a_noise: " + std::to_string(a_noise) + "\n" +
-               "orthogonal_gravity: " + std::to_string(orthogonal_gravity) + "\n";
+        return ParamsSensorBase::print() + "\n" + "w_noise: " + toString(w_noise) + "\n" +
+               "a_noise: " + toString(a_noise) + "\n" +
+               "orthogonal_gravity: " + toString(orthogonal_gravity) + "\n";
     }
 };
 

test/gtest_factor_imu2d_with_gravity.cpp

@@ -66,8 +66,7 @@ class FactorImu2dwithGravity_test : public testing::Test
         frm1 = problem_ptr->emplaceFrame(TimeStamp(1), "POV", Vector5d::Zero());
 
         // Imu2d sensor
-        sensor = problem_ptr->installSensor(
-            "SensorImu", wolf_root + "/test/yaml/sensor_imu2d_with_gravity.yaml", {wolf_root});
+        sensor = problem_ptr->installSensor(wolf_root + "/test/yaml/sensor_imu2d_with_gravity.yaml", {wolf_root});
 
         // capture from frm1 to frm0
         cap0 =