diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp index 59cbae5a3cbb2dcaf45a5e5a1447f3e9b5f5d8ba..0413c21cb2c30bb91b1a03dabac0b595d1843349 100644 --- a/test/gtest_factor_diff_drive.cpp +++ b/test/gtest_factor_diff_drive.cpp @@ -293,7 +293,7 @@ TEST_F(FactorDiffDriveTest, residual_right_turn_90_deg) "FeatureDiffDrive", delta2, delta1_cov, - C0->getCalibrationPreint(), + processor->getCalibration(C0), Matrix3d::Identity()); // TODO Jacobian? F1->setState(Vector3d(1.5, -1.5, -M_PI_2)); @@ -328,7 +328,7 @@ TEST_F(FactorDiffDriveTest, solve_F1) "FeatureDiffDrive", delta2, delta1_cov, - C0->getCalibrationPreint(), + processor->getCalibration(C0), Matrix3d::Identity()); // TODO Jacobian? F1->setState(Vector3d(1.5, -1.5, -M_PI_2)); @@ -374,7 +374,7 @@ TEST_F(FactorDiffDriveTest, solve_sensor_intrinsics) "FeatureDiffDrive", delta2, delta1_cov, - C0->getCalibrationPreint(), + processor->getCalibration(C0), Matrix3d::Identity()); // TODO Jacobian? F1->setState(Vector3d(1.5, -1.5, -M_PI_2));