From 2b894a6a4d620756e52b05376c58dcdd9f0d6bf2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 30 Jul 2019 00:27:31 +0200
Subject: [PATCH] Update gtest_factor_diff_drive.cpp
---
test/gtest_factor_diff_drive.cpp | 20 +-------------------
1 file changed, 1 insertion(+), 19 deletions(-)
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index eef69b049..b1e8f781f 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/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());
--
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