From 1b503dd3a616c2e543b6b738ab6856062676c454 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 6 Mar 2018 15:39:33 +0100
Subject: [PATCH] Fix gtest FeatureIMU
---
src/test/gtest_feature_imu.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp
index bf0956ac1..6609f9708 100644
--- a/src/test/gtest_feature_imu.cpp
+++ b/src/test/gtest_feature_imu.cpp
@@ -52,12 +52,13 @@ class FeatureIMU_test : public testing::Test
// Set the origin
Eigen::VectorXs x0(10);
x0 << 0,0,0, 0,0,0,1, 0,0,0;
- origin_frame = problem->getProcessorMotionPtr()->setOrigin(x0, t); //create a keyframe at origin
+ MatrixXs P0; P0.setIdentity(9,9);
+ origin_frame = problem->setPrior(x0, P0, 0.0, 0.01);
// Create one capture to store the IMU data arriving from (sensor / callback / file / etc.)
// give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
imu_ptr = std::make_shared<CaptureIMU>(t, sensor_ptr, data_, Eigen::Matrix6s::Identity(), Eigen::Vector6s::Zero());
- imu_ptr->setFramePtr(origin_frame); //to get ptr to Frm ni processorIMU and then get biases
+ imu_ptr->setFramePtr(origin_frame); //to get ptr to Frm in processorIMU and then get biases
//process data
data_ << 2, 0, 9.8, 0, 0, 0;
--
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