diff --git a/include/imu/sensor/sensor_imu.h b/include/imu/sensor/sensor_imu.h index b738d16cb2cbe12cdf220e2dbc77967ea4a1d02c..15dfcd91c749c1cd590b4dcad05b7ea1b15a67e0 100644 --- a/include/imu/sensor/sensor_imu.h +++ b/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"; } }; diff --git a/test/gtest_factor_imu2d_with_gravity.cpp b/test/gtest_factor_imu2d_with_gravity.cpp index 0046dfc435fec60936ffb37035f62117ca3948ea..f6e30fa5594fb941b75bd358d437a3ace7f410a5 100644 --- a/test/gtest_factor_imu2d_with_gravity.cpp +++ b/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 =