From 1b4249702640870fe511ce7778a832c80d50ef7f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 5 Jun 2020 17:21:41 +0200
Subject: [PATCH] Fix test factor diff drive
---
test/gtest_factor_diff_drive.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 59cbae5a3..0413c21cb 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));
--
GitLab