From 0996f6d61a09ad9580a28dfb5e1c6a50e67f3298 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 6 Feb 2019 14:26:30 +0100
Subject: [PATCH] minor changes
---
src/test/gtest_constraint_absolute.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/test/gtest_constraint_absolute.cpp b/src/test/gtest_constraint_absolute.cpp
index 1a09aa208..de55b4767 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();
--
GitLab