Update gtest_factor_diff_drive.cpp

test/gtest_factor_diff_drive.cpp

@@ -254,8 +254,6 @@ TEST_F(FactorDiffDriveTest, constructor)
     ASSERT_EQ(c1->getType(), "DIFF DRIVE");
     ASSERT_EQ(c1->getCaptureOther()->getSensorIntrinsic(), sensor->getIntrinsic());
 
-    problem->print(4,1,1,1);
-
 }
 
 TEST_F(FactorDiffDriveTest, residual_zeros)
@@ -329,7 +327,6 @@ TEST_F(FactorDiffDriveTest, solve_F1)
     sensor->fixIntrinsics();
     F1->setState(F1->getState() + Vector3s::Random() * 0.1);
 
-    problem->print(1,0,1,1);
     std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
 
 //    WOLF_TRACE("\n", report);
@@ -369,7 +366,6 @@ TEST_F(FactorDiffDriveTest, solve_sensor_intrinsics)
     sensor->unfixIntrinsics();
     sensor->getIntrinsic()->setState(calib + Vector3s::Random() * 0.1);
 
-    problem->print(1,0,1,1);
     std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
 
 //    WOLF_TRACE("\n", report);
@@ -480,13 +476,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt)
         C->process();
     }
 
-    for (t = 0; t < (2*N+1)*dt; t += dt)
-    {
-        WOLF_TRACE("x(", t.getSeconds(), ") = ", problem->getState(t).transpose());
-    }
-
-
-    auto F2 = problem->getLastKeyFrame(); // this matches the end of the arc precisely so it may be used for checks.
+    auto F2 = problem->getLastKeyFrame();
 
 
     // Fix boundaries and unfix S ;
@@ -502,10 +492,6 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt)
     std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
     WOLF_TRACE("\n", report);
 
-    for (t = 0; t < (2*N+1)*dt; t += dt)
-    {
-        WOLF_TRACE("x(", t.getSeconds(), ") = ", problem->getState(t).transpose());
-    }
     WOLF_TRACE("x1           : ", problem->getState(N*dt).transpose());
     WOLF_TRACE("x2           : ", F2->getState().transpose());
     WOLF_TRACE("calib_preint : ", calib_preint.transpose());
@@ -639,10 +625,6 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics)
     std::string report = solver->solve(SolverManager::ReportVerbosity::BRIEF);
     WOLF_TRACE("\n", report);
 
-    for (t = 0; t < (2*N+1)*dt; t += dt)
-    {
-        WOLF_TRACE("x(", t.getSeconds(), ") = ", problem->getState(t).transpose());
-    }
     WOLF_TRACE("x1           : ", problem->getState(N*dt).transpose());
     WOLF_TRACE("x2           : ", F2->getState().transpose());
     WOLF_TRACE("calib_preint : ", calib_preint.transpose());