From 22c0837b80c83e837bbaae7b8b53776acfdeb30a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Fri, 21 Jun 2019 14:51:08 +0200
Subject: [PATCH] fixed gtest
---
test/gtest_processor_loopclosure.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/test/gtest_processor_loopclosure.cpp b/test/gtest_processor_loopclosure.cpp
index f2c99aac5..a7fc6818d 100644
--- a/test/gtest_processor_loopclosure.cpp
+++ b/test/gtest_processor_loopclosure.cpp
@@ -70,8 +70,7 @@ TEST(ProcessorLoopClosure, installProcessor)
std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
ProcessorParamsLoopClosurePtr params = std::make_shared<ProcessorParamsLoopClosure>();
- ProcessorLoopClosureDummyPtr proc_lc = std::make_shared<ProcessorLoopClosureDummy>(params, factor_created);
- proc_lc->link(sens_lc);
+ auto proc_lc = ProcessorBase::emplace<ProcessorLoopClosureDummy>(sens_lc, params, factor_created);
std::cout << "sensor & processor created and added to wolf problem" << std::endl;
// initialize
@@ -82,7 +81,7 @@ TEST(ProcessorLoopClosure, installProcessor)
// new KF
t += dt;
- FrameBasePtr kf = FrameBase::create_PO_2D (KEY, t, x); //KF2
+ FrameBasePtr kf = problem->emplaceFrame(KEY, x, t); //KF2
proc_lc->keyFrameCallback(kf, dt/2);
// new capture
--
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