diff --git a/src/test/gtest_constraint_absolute.cpp b/src/test/gtest_constraint_absolute.cpp index 1a09aa208cc89ee1fb6fbee4c2dd6d8f6be71fd2..de55b4767d7edefdc39f04fb67691b3e5511ed9d 100644 --- a/src/test/gtest_constraint_absolute.cpp +++ b/src/test/gtest_constraint_absolute.cpp @@ -33,11 +33,11 @@ Eigen::Matrix<wolf::Scalar, 9, 9> data_cov = 0.2 * Eigen::Matrix<Scalar,9,9>::Id Vector10s x0 = pose9toPose10(pose + Vector9s::Random()*0.25); // Problem and solver -ProblemPtr problem = Problem::create("POV 3D"); -CeresManager ceres_mgr(problem); +ProblemPtr problem_ptr = Problem::create("POV 3D"); +CeresManager ceres_mgr(problem_ptr); // Two frames -FrameBasePtr frm0 = problem->emplaceFrame(KEY_FRAME, problem->zeroState(), TimeStamp(0)); +FrameBasePtr frm0 = problem_ptr->emplaceFrame(KEY_FRAME, problem_ptr->zeroState(), TimeStamp(0)); // Capture, feature and constraint CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("IMU ABS", 0, nullptr, pose10, 10, 9, nullptr)); @@ -53,7 +53,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p) FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSITION", pose10.head<3>(), data_cov.topLeftCorner<3,3>())); fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr())); - ASSERT_TRUE(problem->check(0)); + ASSERT_TRUE(problem_ptr->check(0)); // Unfix frame 0, perturb frm0 frm0->unfix(); @@ -87,7 +87,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_v) FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("VELOCITY", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>())); fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getVPtr())); - ASSERT_TRUE(problem->check(0)); + ASSERT_TRUE(problem_ptr->check(0)); // Unfix frame 0, perturb frm0 frm0->unfix(); @@ -105,7 +105,7 @@ TEST(ConstraintQuatAbs, ctr_block_abs_o) FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("QUATERNION", pose10.segment<4>(3), data_cov.block<3,3>(3,3))); fea0->addConstraint(std::make_shared<ConstraintQuaternionAbsolute>(fea0->getFramePtr()->getOPtr())); - ASSERT_TRUE(problem->check(0)); + ASSERT_TRUE(problem_ptr->check(0)); // Unfix frame 0, perturb frm0 frm0->unfix();