diff --git a/CMakeLists.txt b/CMakeLists.txt
index f62d07a3a206408d11bcaea4df4f3fe5d44a8d51..a7a4d0ac3926a29182acfebed52df9f883ddfd45 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -287,6 +287,7 @@ SET(HDRS_FACTOR
include/core/factor/factor_base.h
include/core/factor/factor_block_absolute.h
include/core/factor/factor_diff_drive.h
+ include/core/factor/factor_feature_dummy.h
include/core/factor/factor_odom_2D.h
include/core/factor/factor_odom_2D_analytic.h
include/core/factor/factor_odom_3D.h
diff --git a/include/core/factor/factor_feature_dummy.h b/include/core/factor/factor_feature_dummy.h
index 52831f246cf132bd1c536004e4757baec35b48a8..4731ecaac631c57db2be44315b1d32084e03fd13 100644
--- a/include/core/factor/factor_feature_dummy.h
+++ b/include/core/factor/factor_feature_dummy.h
@@ -6,7 +6,6 @@
namespace wolf {
WOLF_PTR_TYPEDEFS(FactorFeatureDummy);
-
class FactorFeatureDummy : public FactorBase
{
diff --git a/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
new file mode 100644
index 0000000000000000000000000000000000000000..9cb2166e8429cd236f77c502891c14880e57ec30
--- /dev/null
+++ b/include/core/utils/utils_gtest.h
@@ -0,0 +1,146 @@
+/**
+ * \file utils_gtest.h
+ * \brief Some utils for gtest
+ * \author Jeremie Deray
+ * Created on: 26/09/2016
+ * Eigen macros extension by: Joan Sola on 26/04/2017
+ */
+
+#ifndef WOLF_UTILS_GTEST_H
+#define WOLF_UTILS_GTEST_H
+
+#include <gtest/gtest.h>
+
+// Macros for testing equalities and inequalities.
+//
+// * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
+// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
+// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
+// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
+// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
+// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
+//
+// C String Comparisons. All tests treat NULL and any non-NULL string
+// as different. Two NULLs are equal.
+//
+// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
+// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
+// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
+// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
+//
+// Macros for comparing floating-point numbers.
+//
+// * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
+// Tests that two float values are almost equal.
+// * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
+// Tests that two double values are almost equal.
+// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
+// Tests that v1 and v2 are within the given distance to each other.
+//
+// These predicate format functions work on floating-point values, and
+// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
+//
+// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
+//
+// Macros that execute statement and check that it doesn't generate new fatal
+// failures in the current thread.
+//
+// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
+
+// http://stackoverflow.com/a/29155677
+
+namespace testing
+{
+namespace internal
+{
+enum GTestColor
+{
+ COLOR_DEFAULT,
+ COLOR_RED,
+ COLOR_GREEN,
+ COLOR_YELLOW
+};
+
+extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
+
+#define PRINTF(...) \
+ do { testing::internal::ColoredPrintf(testing::internal::COLOR_GREEN,\
+ "[ ] "); \
+ testing::internal::ColoredPrintf(testing::internal::COLOR_YELLOW, __VA_ARGS__); } \
+ while(0)
+
+#define PRINT_TEST_FINISHED \
+{ \
+ const ::testing::TestInfo* const test_info = \
+ ::testing::UnitTest::GetInstance()->current_test_info(); \
+ PRINTF(std::string("Finished test case ").append(test_info->test_case_name()).\
+ append(" of test ").append(test_info->name()).append(".\n").c_str()); \
+}
+
+// C++ stream interface
+class TestCout : public std::stringstream
+{
+public:
+ ~TestCout()
+ {
+ PRINTF("%s\n", str().c_str());
+ }
+};
+
+/* Usage :
+
+TEST(Test, Foo)
+{
+ // the following works but prints default stream
+ EXPECT_TRUE(false) << "Testing Stream.";
+
+ // or you can play with AINSI color code
+ EXPECT_TRUE(false) << "\033[1;31m" << "Testing Stream.";
+
+ // or use the above defined macros
+
+ PRINTF("Hello world");
+
+ // or
+
+ TEST_COUT << "Hello world";
+}
+
+*/
+#define TEST_COUT testing::internal::TestCout()
+
+} // namespace internal
+
+/* Macros related to testing Eigen classes:
+ */
+#define EXPECT_MATRIX_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
+ return (lhs - rhs).isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+#define ASSERT_MATRIX_APPROX(C_expect, C_actual, precision) ASSERT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
+ return (lhs - rhs).isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+#define EXPECT_QUATERNION_APPROX(C_expect, C_actual, precision) EXPECT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
+
+#define ASSERT_QUATERNION_APPROX(C_expect, C_actual, precision) ASSERT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
+
+#define EXPECT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
+ MatrixXs er = lhs - rhs; \
+ er(2) = pi2pi((Scalar)er(2)); \
+ return er.isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+#define ASSERT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
+ MatrixXs er = lhs - rhs; \
+ er(2) = pi2pi((Scalar)er(2)); \
+ return er.isMuchSmallerThan(1, precision); \
+ }, \
+ C_expect, C_actual);
+
+} // namespace testing
+
+#endif /* WOLF_UTILS_GTEST_H */