diff --git a/hello_wolf/hello_wolf.cpp b/hello_wolf/hello_wolf.cpp
index 8311032fcc140141ca05bd584d5b167351fa43d7..c23a9c6625c66118f37b1051c24934c3f22aedf7 100644
--- a/hello_wolf/hello_wolf.cpp
+++ b/hello_wolf/hello_wolf.cpp
@@ -112,11 +112,7 @@ int main()
// sensor odometer 2D
IntrinsicsOdom2DPtr intrinsics_odo = std::make_shared<IntrinsicsOdom2D>();
-//<<<<<<< HEAD
SensorBasePtr sensor_odo = problem->installSensor("SensorOdom2D", "sensor odo", Vector3d(0,0,0), intrinsics_odo);
-//=======
-// SensorBasePtr sensor_odo = problem->installSensor("ODOM 2D", "sensor odo", Vector3d(0,0,0), intrinsics_odo);
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
// processor odometer 2D
ProcessorParamsOdom2DPtr params_odo = std::make_shared<ProcessorParamsOdom2D>();
@@ -133,11 +129,7 @@ int main()
IntrinsicsRangeBearingPtr intrinsics_rb = std::make_shared<IntrinsicsRangeBearing>();
intrinsics_rb->noise_range_metres_std = 0.1;
intrinsics_rb->noise_bearing_degrees_std = 1.0;
-//<<<<<<< HEAD
SensorBasePtr sensor_rb = problem->installSensor("SensorRangeBearing", "sensor RB", Vector3d(1,1,0), intrinsics_rb);
-//=======
-// SensorBasePtr sensor_rb = problem->installSensor("RANGE BEARING", "sensor RB", Vector3d(1,1,0), intrinsics_rb);
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
// processor Range and Bearing
ProcessorParamsRangeBearingPtr params_rb = std::make_shared<ProcessorParamsRangeBearing>();
@@ -234,8 +226,6 @@ int main()
sb->setState(sb->getState() + VectorXd::Random(sb->getSize()) * 0.5); // We perturb A LOT !
for (auto& kf : problem->getTrajectory()->getFrameList())
if (kf->isKeyOrAux())
-//<<<<<<< HEAD
-//<<<<<<< HEAD
for (auto& pair_key_sb : kf->getStateBlockMap())
if (!pair_key_sb.second->isFixed())
pair_key_sb.second->setState(pair_key_sb.second->getState() + VectorXd::Random(pair_key_sb.second->getSize()) * 0.5); // We perturb A LOT !
@@ -243,24 +233,6 @@ int main()
for (auto& pair_key_sb : lmk->getStateBlockMap())
if (!pair_key_sb.second->isFixed())
pair_key_sb.second->setState(pair_key_sb.second->getState() + VectorXd::Random(pair_key_sb.second->getSize()) * 0.5); // We perturb A LOT !
-//=======
-// for (auto& sb : kf->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-// for (auto& lmk : problem->getMap()->getLandmarkList())
-// for (auto& sb : lmk->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-//>>>>>>> devel
-//=======
-// for (auto& sb : kf->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXd::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-// for (auto& lmk : problem->getMap()->getLandmarkList())
-// for (auto& sb : lmk->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXd::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
problem->print(1,0,1,0);
// SOLVE again
diff --git a/hello_wolf/hello_wolf_autoconf.cpp b/hello_wolf/hello_wolf_autoconf.cpp
index bd7909fcd9e67e7ab1d5fe6225c772ed08bc15a5..62c62402e1134e059f688f9fbf961a7e3fd1b5c6 100644
--- a/hello_wolf/hello_wolf_autoconf.cpp
+++ b/hello_wolf/hello_wolf_autoconf.cpp
@@ -209,8 +209,6 @@ int main()
sb->setState(sb->getState() + VectorXd::Random(sb->getSize()) * 0.5); // We perturb A LOT !
for (auto& kf : problem->getTrajectory()->getFrameList())
if (kf->isKeyOrAux())
-//<<<<<<< HEAD
-//<<<<<<< HEAD
for (auto& pair_key_sb : kf->getStateBlockMap())
if (pair_key_sb.second && !pair_key_sb.second->isFixed())
pair_key_sb.second->setState(pair_key_sb.second->getState() + VectorXd::Random(pair_key_sb.second->getSize()) * 0.5); // We perturb A LOT !
@@ -218,24 +216,6 @@ int main()
for (auto& pair_key_sb : lmk->getStateBlockMap())
if (!pair_key_sb.second->isFixed())
pair_key_sb.second->setState(pair_key_sb.second->getState() + VectorXd::Random(pair_key_sb.second->getSize()) * 0.5); // We perturb A LOT !
-//=======
-// for (auto& sb : kf->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-// for (auto& lmk : problem->getMap()->getLandmarkList())
-// for (auto& sb : lmk->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXs::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-//>>>>>>> devel
-//=======
-// for (auto& sb : kf->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXd::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-// for (auto& lmk : problem->getMap()->getLandmarkList())
-// for (auto& sb : lmk->getStateBlockVec())
-// if (sb && !sb->isFixed())
-// sb->setState(sb->getState() + VectorXd::Random(sb->getSize()) * 0.5); // We perturb A LOT !
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
problem->print(1,0,1,0);
// SOLVE again
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index a6b2242118fa009dac985b07e68c595aafe9f2a9..c7e3dd536cc52dad3735bd0cde493706db8eefda 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -13,7 +13,6 @@ namespace wolf
WOLF_PTR_TYPEDEFS(SensorRangeBearing);
-//<<<<<<< HEAD
SensorRangeBearing::SensorRangeBearing(const Eigen::VectorXd& _extrinsics, const Eigen::Vector2d& _noise_std) :
SensorBase("SensorRangeBearing",
std::make_shared<StateBlock>(_extrinsics.head<2>(), true),
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 833618d322da6f88c1557bc033efd99bc03708b9..b5cfcc42fab8f1da75b18f26fbacb8dff4968055 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -105,16 +105,8 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
// States
public:
-//<<<<<<< HEAD
-// void setState(const Eigen::VectorXs& _state);
-// bool getCovariance(Eigen::MatrixXs& _cov) const;
-//=======
void setState(const Eigen::VectorXd& _state);
-// Eigen::VectorXd getState() const;
-// void getState(Eigen::VectorXd& _state) const;
-// unsigned int getSize() const;
bool getCovariance(Eigen::MatrixXd& _cov) const;
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
// Wolf tree access ---------------------------------------------------
public:
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 194d8fd5302883782e8f9b82408b80eef778d1c7..f157a961b99d3eda1450cb8d269ad295c5a57d03 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -60,19 +60,7 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
// State blocks
std::vector<StateBlockPtr> getUsedStateBlockVec() const;
-//<<<<<<< HEAD
-// bool getCovariance(Eigen::MatrixXs& _cov) const;
-//=======
-// StateBlockPtr getStateBlock(unsigned int _i) const;
-// void setStateBlock(unsigned int _i, StateBlockPtr _sb_ptr);
-// StateBlockPtr getP() const;
-// StateBlockPtr getO() const;
-// void setP(const StateBlockPtr _p_ptr);
-// void setO(const StateBlockPtr _o_ptr);
-// Eigen::VectorXd getState() const;
-// void getState(Eigen::VectorXd& _state) const;
bool getCovariance(Eigen::MatrixXd& _cov) const;
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
protected:
virtual void registerNewStateBlocks() const;
@@ -154,55 +142,7 @@ inline const FactorBasePtrList& LandmarkBase::getConstrainedByList() const
return constrained_by_list_;
}
-//<<<<<<< HEAD
-//inline void LandmarkBase::setDescriptor(const Eigen::VectorXs& _descriptor)
-//=======
-//inline const std::vector<StateBlockPtr>& LandmarkBase::getStateBlockVec() const
-//{
-// return state_block_vec_;
-//}
-//
-//inline std::vector<StateBlockPtr>& LandmarkBase::getStateBlockVec()
-//{
-// return state_block_vec_;
-//}
-
-//inline StateBlockPtr LandmarkBase::getStateBlock(unsigned int _i) const
-//{
-// // assert (_i < state_block_vec_.size() && "Requested a state block pointer out of the vector range!");
-// if (_i < state_block_vec_.size())
-// return state_block_vec_[_i];
-// else
-// return nullptr;
-//}
-//
-//inline void LandmarkBase::setStateBlock(unsigned int _i, StateBlockPtr _sb_ptr)
-//{
-// state_block_vec_[_i] = _sb_ptr;
-//}
-//
-//inline StateBlockPtr LandmarkBase::getP() const
-//{
-// return getStateBlock(0);
-//}
-//
-//inline StateBlockPtr LandmarkBase::getO() const
-//{
-// return getStateBlock(1);
-//}
-//
-//inline void LandmarkBase::setP(const StateBlockPtr _st_ptr)
-//{
-// setStateBlock(0, _st_ptr);
-//}
-//
-//inline void LandmarkBase::setO(const StateBlockPtr _st_ptr)
-//{
-// setStateBlock(1, _st_ptr);
-//}
-
inline void LandmarkBase::setDescriptor(const Eigen::VectorXd& _descriptor)
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
{
descriptor_ = _descriptor;
}
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index b2c807c216778629a5f8c4e813bd22973f37f683..43f82f10036a364061c681e79e38c598e88dceb4 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -100,14 +100,9 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
std::map<std::string, FeatureBasePtr> params_prior_map_; // Priors (value and covariance) of extrinsic & intrinsic state blocks (by key in state_block_map_)
-//<<<<<<< HEAD
protected:
-// Eigen::VectorXs noise_std_; // std of sensor noise
-// Eigen::MatrixXs noise_cov_; // cov matrix of noise
-//=======
Eigen::VectorXd noise_std_; // std of sensor noise
Eigen::MatrixXd noise_cov_; // cov matrix of noise
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
virtual void setProblem(ProblemPtr _problem) final;
@@ -151,15 +146,9 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
StateBlockPtr _p_ptr,
StateBlockPtr _o_ptr,
StateBlockPtr _intr_ptr,
-//<<<<<<< HEAD
-// const Eigen::VectorXs & _noise_std,
const Eigen::VectorXd & _noise_std,
const bool _p_dyn = false,
const bool _o_dyn = false,
-//=======
-// const Eigen::VectorXd & _noise_std,
-// const bool _extr_dyn = false,
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
const bool _intr_dyn = false);
virtual ~SensorBase();
@@ -226,15 +215,9 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
* \param _size state segment size (-1: whole state) (not used in quaternions)
*
**/
-//<<<<<<< HEAD
void addPriorParameter(const std::string& _key,
const Eigen::VectorXd& _x,
const Eigen::MatrixXd& _cov,
-//=======
-// void addPriorParameter(const unsigned int _i,
-// const Eigen::VectorXd& _x,
-// const Eigen::MatrixXd& _cov,
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
unsigned int _start_idx = 0,
int _size = -1);
void addPriorP(const Eigen::VectorXd& _x,
@@ -251,26 +234,10 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
SizeEigen getCalibSize() const;
Eigen::VectorXd getCalibration() const;
-//<<<<<<< HEAD
-// void setNoiseStd(const Eigen::VectorXs & _noise_std);
-// void setNoiseCov(const Eigen::MatrixXs & _noise_std);
-// Eigen::VectorXs getNoiseStd() const;
-// Eigen::MatrixXs getNoiseCov() const;
-//=======
-// bool isExtrinsicDynamic() const;
-// bool isIntrinsicDynamic() const;
-// bool hasCapture() const {return has_capture_;}
-// void setHasCapture() {has_capture_ = true;}
-// bool extrinsicsInCaptures() const { return extrinsic_dynamic_ && has_capture_; }
-// bool intrinsicsInCaptures() const { return intrinsic_dynamic_ && has_capture_; }
-
void setNoiseStd(const Eigen::VectorXd & _noise_std);
void setNoiseCov(const Eigen::MatrixXd & _noise_std);
Eigen::VectorXd getNoiseStd() const;
Eigen::MatrixXd getNoiseCov() const;
-// void setExtrinsicDynamic(bool _extrinsic_dynamic);
-// void setIntrinsicDynamic(bool _intrinsic_dynamic);
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
void link(HardwareBasePtr);
template<typename classType, typename... T>
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 97eaf4cf8fc1530221e0e61db24f179a202e6b22..d293a8727cda2b24875b41bacadde96112f722c6 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -64,7 +64,6 @@ FrameBase::FrameBase(const std::string _frame_structure, const SizeEigen _dim, c
time_stamp_(_ts)
{
if(_frame_structure.compare("PO") == 0 and _dim == 2){
-//<<<<<<< HEAD
assert(_x.size() == 3 && "Wrong state vector size. Should be 3 for 2D!");
StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <2> ( ) ) );
StateBlockPtr o_ptr ( std::make_shared<StateAngle> ((double) _x(2) ) );
@@ -72,19 +71,6 @@ FrameBase::FrameBase(const std::string _frame_structure, const SizeEigen _dim, c
addStateBlock("O", o_ptr);
this->setType("PO 2D");
}else if(_frame_structure.compare("PO") == 0 and _dim == 3){
-//=======
-// // auto _x = Eigen::VectorXd::Zero(3);
-// assert(_x.size() == 3 && "Wrong state vector size. Should be 3 for 2D!");
-// StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <2> ( ) ) );
-// StateBlockPtr o_ptr ( std::make_shared<StateAngle> ((double) _x(2) ) );
-// StateBlockPtr v_ptr ( nullptr );
-// state_block_vec_[0] = p_ptr;
-// state_block_vec_[1] = o_ptr;
-// state_block_vec_[2] = v_ptr;
-// this->setType("PO 2D");
-// }else if(_frame_structure.compare("PO") == 0 and _dim == 3){
-// // auto _x = Eigen::VectorXd::Zero(7);
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
assert(_x.size() == 7 && "Wrong state vector size. Should be 7 for 3D!");
StateBlockPtr p_ptr ( std::make_shared<StateBlock> (_x.head <3> ( ) ) );
StateBlockPtr o_ptr ( std::make_shared<StateQuaternion> (_x.tail <4> ( ) ) );
@@ -219,96 +205,10 @@ void FrameBase::setAux()
}
}
-//<<<<<<< HEAD
void FrameBase::setState(const Eigen::VectorXd& _state)
{
HasStateBlocks::setState(_state, isKeyOrAux());
}
-//=======
-//void FrameBase::fix()
-//{
-// for (auto sbp : state_block_vec_)
-// if (sbp != nullptr)
-// sbp->fix();
-//}
-//
-//void FrameBase::unfix()
-//{
-// for (auto sbp : state_block_vec_)
-// if (sbp != nullptr)
-// sbp->unfix();
-//}
-//
-//bool FrameBase::isFixed() const
-//{
-// bool fixed = true;
-// for (auto sb : getStateBlockVec())
-// {
-// if (sb)
-// fixed &= sb->isFixed();
-// }
-// return fixed;
-//}
-//
-//void FrameBase::setState(const Eigen::VectorXd& _state)
-//{
-// int size = 0;
-// for(unsigned int i = 0; i<state_block_vec_.size(); i++){
-// size += (state_block_vec_[i]==nullptr ? 0 : state_block_vec_[i]->getSize());
-// }
-//
-// //State Vector size must be lower or equal to frame state size :
-// // example : PQVBB -> if we initialize only position and orientation due to use of processorOdom3D
-// assert(_state.size() <= size && "In FrameBase::setState wrong state size");
-//
-// unsigned int index = 0;
-// const unsigned int _st_size = _state.size();
-//
-// //initialize the FrameBase StateBlocks while StateBlocks list's end not reached and input state_size can go further
-// for (StateBlockPtr sb : state_block_vec_)
-// if (sb && (index < _st_size))
-// {
-// sb->setState(_state.segment(index, sb->getSize()), isKeyOrAux()); // do not notify if state block is not estimated by the solver
-// index += sb->getSize();
-// }
-//}
-//
-//Eigen::VectorXd FrameBase::getState() const
-//{
-// Eigen::VectorXd state;
-//
-// getState(state);
-//
-// return state;
-//}
-//
-//void FrameBase::getState(Eigen::VectorXd& _state) const
-//{
-// SizeEigen size = 0;
-// for (StateBlockPtr sb : state_block_vec_)
-// if (sb)
-// size += sb->getSize();
-//
-// _state = Eigen::VectorXd(size);
-//
-// SizeEigen index = 0;
-// for (StateBlockPtr sb : state_block_vec_)
-// if (sb)
-// {
-// _state.segment(index,sb->getSize()) = sb->getState();
-// index += sb->getSize();
-// }
-//}
-//
-//unsigned int FrameBase::getSize() const
-//{
-// unsigned int size = 0;
-// for (auto st : state_block_vec_)
-// if (st)
-// size += st->getSize();
-// return size;
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
-//}
bool FrameBase::getCovariance(Eigen::MatrixXd& _cov) const
{
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index b002414cf89c832ca9a7e384e21f6cba25e78c18..da4cb5a57ac6ef8e003f3a5a37d790c0789c0db9 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -109,36 +109,6 @@ void LandmarkBase::removeStateBlocks()
}
}
-//<<<<<<< HEAD
-//=======
-//Eigen::VectorXd LandmarkBase::getState() const
-//{
-// Eigen::VectorXd state;
-//
-// getState(state);
-//
-// return state;
-//}
-//
-//void LandmarkBase::getState(Eigen::VectorXd& _state) const
-//{
-// SizeEigen size = 0;
-// for (StateBlockPtr sb : state_block_vec_)
-// if (sb)
-// size += sb->getSize();
-//
-// _state = Eigen::VectorXd(size);
-//
-// SizeEigen index = 0;
-// for (StateBlockPtr sb : state_block_vec_)
-// if (sb)
-// {
-// _state.segment(index,sb->getSize()) = sb->getState();
-// index += sb->getSize();
-// }
-//}
-//
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
YAML::Node LandmarkBase::saveToYaml() const
{
YAML::Node node;
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 4651b0bde4b0efdbfa52284f85cc55c9a9ec654a..973221d7f58981651b069d6fba8745a1a1f98cd7 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -672,12 +672,8 @@ bool Problem::getFrameCovariance(FrameBaseConstPtr _frame_ptr, Eigen::MatrixXd&
bool success(true);
// resizing
-//<<<<<<< HEAD
SizeEigen sz = _frame_ptr->getLocalSize();
_covariance.resize(sz, sz);
-//=======
-// _covariance = Eigen::MatrixXd(sz, sz);
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
// filling covariance
int i = 0, j = 0;
@@ -712,12 +708,8 @@ bool Problem::getLandmarkCovariance(LandmarkBaseConstPtr _landmark_ptr, Eigen::M
bool success(true);
// resizing
-//<<<<<<< HEAD
SizeEigen sz = _landmark_ptr->getLocalSize();
_covariance.resize(sz, sz);
-//=======
-// _covariance = Eigen::MatrixXd(sz, sz);
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
// filling covariance
int i = 0, j = 0;
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 7a2ef011b498d74f39920ed922955abf1d685bec..ace8ba8f0e86e77c5488a2566d63c12f90565c5c 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -20,15 +20,8 @@ SensorDiffDrive::SensorDiffDrive(const Eigen::VectorXd& _extrinsics,
params_diff_drive_(_intrinsics)
{
radians_per_tick = 2.0*M_PI / params_diff_drive_->ticks_per_wheel_revolution;
-//<<<<<<< HEAD
-// getIntrinsic()->setState(Eigen::Vector3s(_intrinsics->radius_left,_intrinsics->radius_right,_intrinsics->wheel_separation));
-// unfixIntrinsics();
-//// getIntrinsic()->unfix();
-//=======
getIntrinsic()->setState(Eigen::Vector3d(_intrinsics->radius_left,_intrinsics->radius_right,_intrinsics->wheel_separation));
unfixIntrinsics();
-// getIntrinsic()->unfix();
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
}
SensorDiffDrive::~SensorDiffDrive()
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index 7b24856d94a3df4f7f76cefb761222f3e2679b81..d7ec37dd0bf31a65ef2c4b163d9969df4764f4bf 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -72,11 +72,7 @@ TEST(ParameterPrior, prior_p_segment)
TEST(ParameterPrior, prior_o_segment)
{
// constraining segment of quaternion is not allowed
-//<<<<<<< HEAD
ASSERT_DEATH(odom_sensor_ptr_->addPriorParameter("O", prior_extrinsics.segment(1,2),Eigen::Matrix2d::Identity(),1,2),"");
-//=======
-// ASSERT_DEATH(odom_sensor_ptr_->addPriorParameter(1, prior_extrinsics.segment(1,2),Eigen::Matrix2d::Identity(),1,2),"");
-//>>>>>>> 264-remove-wolf-scalar-and-use-double-instead
}
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 3fa5bbbd0a11645045aa92fc027598220cc6d7b5..d370d52874b269d0828b34524a10947694806f52 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -668,8 +668,6 @@ TEST(log_q, small)
}
}
-//<<<<<<< HEAD
-//=======
TEST(Conversions, q2R_R2q)
{
Vector3d v; v.setRandom();
@@ -706,34 +704,18 @@ TEST(Conversions, e2q_q2e)
}
-//>>>>>>> master
TEST(Conversions, e2q_q2R_R2e)
{
Vector3d e, eo;
Quaterniond q;
Matrix3d R;
-//<<<<<<< HEAD
-// e.setRandom();
-//=======
-//>>>>>>> master
e << 0.1, .2, .3;
q = e2q(e);
R = q2R(q);
eo = R2e(R);
-//<<<<<<< HEAD
-// WOLF_TRACE("euler ", e.transpose());
-// WOLF_TRACE("quat ", q.coeffs().transpose());
-// WOLF_TRACE("R \n", R);
-//
-// WOLF_TRACE("euler o ", eo.transpose());
-//
-//
-// ASSERT_MATRIX_APPROX(eo, e, 1e-10);
-//
-//=======
ASSERT_MATRIX_APPROX(eo, e, 1e-10);
}
@@ -747,7 +729,6 @@ TEST(Conversions, e2R_R2e)
R = e2R(e);
eo = R2e(R);
ASSERT_MATRIX_APPROX(eo, e, 1e-10);
-//>>>>>>> master
}
TEST(Conversions, e2R_R2q_q2e)
@@ -756,31 +737,13 @@ TEST(Conversions, e2R_R2q_q2e)
Quaterniond q;
Matrix3d R;
-//<<<<<<< HEAD
-// e.setRandom();
-// e << 0.1, 0.2, 0.3;
-// R = e2R(e(0), e(1), e(2));
-//=======
e << 0.1, 0.2, 0.3;
R = e2R(e);
-//>>>>>>> master
q = R2q(R);
eo = q2e(q.coeffs());
-//<<<<<<< HEAD
-// WOLF_TRACE("euler ", e.transpose());
-// WOLF_TRACE("R \n", R);
-// WOLF_TRACE("quat ", q.coeffs().transpose());
-//
-// WOLF_TRACE("euler o ", eo.transpose());
-//
-//
-// ASSERT_MATRIX_APPROX(eo, e, 1e-10);
-//
-//=======
ASSERT_MATRIX_APPROX(eo, e, 1e-10);
-//>>>>>>> master
}
int main(int argc, char **argv)