diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp index 05541964254d38ed06985e03019fed4d477130db..0ad451b69ffe387e029141e8fae96a3f912256d7 100644 --- a/src/test/gtest_feature_imu.cpp +++ b/src/test/gtest_feature_imu.cpp @@ -133,10 +133,6 @@ TEST_F(FeatureIMU_test, check_frame) ASSERT_TRUE((origin_vptr->getVector() - left_vptr->getVector()).isMuchSmallerThan(1, wolf::Constants::EPS_SMALL)); ASSERT_EQ(origin_frame->id(), left_frame->id()); - //ConstraintIMUPtr constraint_imu = std::make_shared<ConstraintIMU>(feat_imu, last_frame); - //ConstraintIMU constraint_imu(feat_imu, last_frame); - //feat_imu->addConstraint(constraint_imu); - //previous_frame->addConstrainedBy(constraint_imu); } TEST_F(FeatureIMU_test, access_members) @@ -165,10 +161,10 @@ TEST_F(FeatureIMU_test, addConstraint) feat_imu->getFramePtr()->getTimeStamp(); last_frame->getTimeStamp(); - ConstraintIMU constraint_imu(feat_imu,last_frame); - //ConstraintIMUPtr constraint_imu = std::make_shared<ConstraintIMU>(feat_imu, last_frame); - //feat_imu->addConstraint(constraint_imu); - //left_frame->addConstrainedBy(constraint_imu); + + ConstraintIMUPtr constraint_imu = std::make_shared<ConstraintIMU>(feat_imu, last_frame); + feat_imu->addConstraint(constraint_imu); + last_frame->addConstrainedBy(constraint_imu); } int main(int argc, char **argv)