From 287316f5fdd604865cdd74f1d06a47d181a2e4c8 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Thu, 15 Dec 2016 15:42:17 +0100
Subject: [PATCH] :art: + constraint added in gtest_feature_imu
---
src/test/gtest_feature_imu.cpp | 12 ++++--------
1 file changed, 4 insertions(+), 8 deletions(-)
diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp
index 055419642..0ad451b69 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)
--
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