diff --git a/src/constraint_corner_2D.h b/src/constraint_corner_2D.h
index 932d6756c7e6317b5e101eb0df6904a32341ae25..d3702dc58bf17dc250f6c5687a4422eb07829eb7 100644
--- a/src/constraint_corner_2D.h
+++ b/src/constraint_corner_2D.h
@@ -34,11 +34,11 @@ class ConstraintCorner2D: public ConstraintAutodiff<ConstraintCorner2D, 3,2,1,2,
bool operator ()(const T* const _robotP, const T* const _robotO, const T* const _landmarkP,
const T* const _landmarkO, T* _residuals) const;
- /** \brief Returns the jacobians computation method
- *
- * Returns the jacobians computation method
- *
- **/
+ /** \brief Returns the jacobians computation method
+ *
+ * Returns the jacobians computation method
+ *
+ **/
virtual JacobianMethod getJacobianMethod() const override
{
return JAC_AUTO;
diff --git a/src/examples/static_acc.dat b/src/examples/static_acc.dat
deleted file mode 100644
index c36fcc6e5b0a3b2841ddb41690553821c3af9408..0000000000000000000000000000000000000000
--- a/src/examples/static_acc.dat
+++ /dev/null
@@ -1,123701 +0,0 @@
-Timestamp(ms E-10) acc_X acc_Y acc_Z
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-329880 -0.607544 0.598424 9.7522
-329890 -0.554983 0.650952 9.75396
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-329920 -0.674471 0.552493 10.0067
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-1566239 -0.643004 0.597349 9.71282
-1566249 -0.642195 0.568385 9.69931
-1566259 -0.66345 0.583624 9.73578
-1566269 -0.664256 0.603055 9.74953
-1566279 -0.671954 0.580559 9.80206
-1566289 -0.66585 0.572633 9.86455
-1566299 -0.640881 0.567427 9.8471
-1566309 -0.623622 0.568321 9.88144
diff --git a/src/examples/static_gyro.dat b/src/examples/static_gyro.dat
deleted file mode 100644
index 701d79c6cea2f5b90ff2cda0a7978081f2fc5458..0000000000000000000000000000000000000000
--- a/src/examples/static_gyro.dat
+++ /dev/null
@@ -1,123701 +0,0 @@
-Timestamp(ms E-10) gyro_X gyro_Y gyro_Z
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-1565173 0.00274181 -0.00382435 -0.0028547
-1565183 0.00274265 -0.00488472 -0.00282741
-1565193 0.00274348 -0.00594509 -0.00279999
-1565203 0.00155091 -0.00589442 -0.000740767
-1565213 0.00154924 -0.00377369 -0.000795484
-1565223 -0.000402689 -0.00279653 -0.00413585
-1565233 0.00185955 -0.00390542 -0.00610363
-1565243 0.00286674 -0.00493741 -0.00495076
-1565253 0.00274265 -0.00488472 -0.00282741
-1565263 0.000542641 -0.00380218 -0.00192106
-1565273 0.00173616 -0.00491309 -0.0039531
-1565283 0.00387311 -0.00490904 -0.00382507
-1565293 0.00380933 -0.00276196 -0.00281811
-1565303 0.00594556 -0.00169742 -0.00271738
-1565313 0.00707686 -0.00278211 -0.00368774
-1565323 0.00607228 -0.00493121 -0.00475872
-1565333 0.00488055 -0.00594103 -0.00267196
-1565343 0.0036267 -0.00692439 0.000476241
-1565353 0.00368786 -0.00589037 -0.000612736
-1565363 0.00701666 -0.00487649 -0.00257134
-1565373 0.00802231 -0.00378776 -0.00147295
-1565383 0.0059464 -0.00275779 -0.00269008
-1565393 0.00493991 -0.00278628 -0.00381577
-1565403 0.00387228 -0.00384867 -0.00385237
-1565413 0.00387311 -0.00490904 -0.00382507
-1565423 0.00374985 -0.00591671 -0.00167429
-1565433 0.00469434 -0.005862 0.000512958
-1565443 0.00576282 -0.00585985 0.000576973
-1565453 0.00469267 -0.00374126 0.000458241
-1565463 0.00374901 -0.00485635 -0.00170171
-1565473 0.00167418 -0.00488675 -0.00289142
-1565483 0.00267875 -0.00273764 -0.00182045
-1565493 0.00481582 -0.00273359 -0.00169241
-1565503 0.00481761 -0.00485432 -0.0016377
-1565513 0.00268137 -0.00591874 -0.00173831
-1565523 0.00368786 -0.00589037 -0.000612736
-1565533 0.00374818 -0.00379598 -0.00172901
-1565543 0.0028038 -0.0038507 -0.00391638
-1565553 0.0028038 -0.0038507 -0.00391638
-1565563 0.0028038 -0.0038507 -0.00391638
-1565573 0.00399816 -0.0060221 -0.00592089
-1565582 0.00280726 -0.00809216 -0.00380695
-1565592 0.00167501 -0.00594711 -0.002864
-1565602 0.00267971 -0.00379801 -0.00179303
-1565612 0.00487888 -0.0038203 -0.00272667
-1565622 0.00488055 -0.00594103 -0.00267196
-1565632 0.00481844 -0.00591469 -0.00161028
-1565642 0.00475645 -0.00588834 -0.00054872
-1565652 0.00481677 -0.00379395 -0.001665
-1565662 0.0059464 -0.00275779 -0.00269008
-1565672 0.00588429 -0.00273144 -0.0016284
-1565682 0.00481761 -0.00485432 -0.0016377
-1565692 0.00594902 -0.00593889 -0.00260794
-1565702 0.00481677 -0.00379395 -0.001665
-1565712 0.00274086 -0.00276399 -0.00288212
-1565722 0.000542641 -0.00380218 -0.00192106
-1565732 0.000543475 -0.00486255 -0.00189376
-1565742 0.00261855 -0.00483203 -0.000704169
-1565752 0.00368702 -0.00483 -0.000640154
-1565762 0.00701487 -0.00275576 -0.00262606
-1565772 0.00720108 -0.0028348 -0.00581098
-1565782 0.00493991 -0.00278628 -0.00381577
-1565792 0.00368702 -0.00483 -0.000640154
-1565802 0.00362492 -0.00480366 0.000421524
-1565812 0.00481582 -0.00273359 -0.00169241
-1565822 0.00493813 -0.000665545 -0.00387049
-1565832 0.00380754 -0.000641227 -0.00287282
-1565842 0.00160766 0.000441432 -0.00196648
-1565852 0.0015465 -0.000592589 -0.000877619
-1565862 0.00261593 -0.00165093 -0.000786185
-1565872 0.00374639 -0.00167525 -0.00178373
-1565882 0.00594556 -0.00169742 -0.00271738
-1565892 0.00613356 -0.00389719 -0.00584757
-1565902 0.00500381 -0.00493336 -0.00482273
-1565912 0.00387311 -0.00490904 -0.00382507
-1565922 0.00601017 -0.00490487 -0.00369704
-1565932 0.00707781 -0.00384247 -0.00366032
-1565942 0.00707686 -0.00278211 -0.00368774
-1565952 0.00600839 -0.00278413 -0.00375175
-1565962 0.00613356 -0.00389719 -0.00584757
-1565972 0.00519085 -0.00607288 -0.00798023
-1565982 0.00399911 -0.00708246 -0.00589359
-1565992 0.00487971 -0.00488067 -0.00269938
-1566002 0.00362229 -0.00162256 0.000339508
-1566012 0.00261593 -0.00165093 -0.000786185
-1566022 0.00161028 -0.00273967 -0.00188446
-1566032 0.00167334 -0.00382638 -0.00291872
-1566042 0.00374818 -0.00379598 -0.00172901
-1566052 0.00374722 -0.00273561 -0.00175643
-1566062 0.00487888 -0.0038203 -0.00272667
-1566072 0.00500381 -0.00493336 -0.00482273
-1566082 0.00607145 -0.00387084 -0.00478601
-1566092 0.0059464 -0.00275779 -0.00269008
-1566102 0.00582147 -0.00164473 -0.000594139
-1566112 0.00594556 -0.00169742 -0.00271738
-1566122 0.00820673 -0.00174606 -0.0047127
-1566132 0.00826883 -0.0017724 -0.00577426
-1566142 0.00713897 -0.00280845 -0.00474942
-1566152 0.00594735 -0.00381815 -0.00266266
-1566162 0.00374818 -0.00379598 -0.00172901
-1566172 0.000602961 -0.00170779 -0.00303745
-1566182 -0.00147212 -0.00173819 -0.00422716
-1566192 0.00179744 -0.00387907 -0.00504208
-1566202 0.00274181 -0.00382435 -0.0028547
-1566212 0.00487792 -0.00275993 -0.00275409
-1566222 0.0101593 -0.00378358 -0.00134492
-1566232 0.0144324 -0.00271499 -0.00111628
-1566242 0.0124789 0.0003829 -0.00451136
-1566252 0.00606787 0.000370622 -0.00489545
-1566262 -0.000528574 -0.000623107 -0.00206721
-1566272 -0.0059917 -0.00482213 -0.000154614
-1566282 -0.0091325 -0.00803578 -0.0013262
-1566292 -0.0069325 -0.00911844 -0.00223243
-1566302 -0.000522375 -0.00804567 -0.00187564
diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp
index 40e556a43cc5be8561b555475aa957cb97324522..074e6ddb27c7ecc0223ca08352e51a9087e53a70 100644
--- a/src/examples/test_imuPlateform_Offline.cpp
+++ b/src/examples/test_imuPlateform_Offline.cpp
@@ -81,7 +81,6 @@ int main(int argc, char** argv)
ceres_options.max_num_iterations = 1e4;
CeresManager* ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorIMUParams>();
diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp
index a21d43563d4f9f954476b3ef18da1e6a4252b5cd..5869c6bfc71bc38ea645c22224e428d4067526a1 100644
--- a/src/examples/test_imu_constrained0.cpp
+++ b/src/examples/test_imu_constrained0.cpp
@@ -103,7 +103,6 @@ int main(int argc, char** argv)
ceres_options.max_num_iterations = 1e4;
CeresManager* ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorIMUParams>();
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index 16c5c81109af12da0814be69dbe0f3713e7892ff..3763631a09f9297e2c7758383fe92d93ef9aaf33 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -146,4 +146,4 @@ IF(OpenCV_FOUND)
wolf_add_gtest(gtest_roi_ORB gtest_roi_ORB.cpp)
target_link_libraries(gtest_roi_ORB ${PROJECT_NAME})
-ENDIF(OpenCV_FOUND)
+ENDIF(OpenCV_FOUND)
\ No newline at end of file
diff --git a/src/test/gtest_constraint_imu.cpp b/src/test/gtest_constraint_imu.cpp
index df20ddcd493824717bc9aa3068a6f5c15fa1f545..561a89b5dcd815bd5cd4fcddd9989751bcd4f763 100644
--- a/src/test/gtest_constraint_imu.cpp
+++ b/src/test/gtest_constraint_imu.cpp
@@ -69,7 +69,11 @@ class ConstraintIMU_biasTest_Static_NullBias : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -154,7 +158,11 @@ class ConstraintIMU_biasTest_Static_NonNullAccBias : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -239,7 +247,11 @@ class ConstraintIMU_biasTest_Static_NonNullGyroBias : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -325,7 +337,11 @@ class ConstraintIMU_biasTest_Static_NonNullBias : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -410,7 +426,11 @@ class ConstraintIMU_biasTest_Move_NullBias : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -499,7 +519,11 @@ class ConstraintIMU_biasTest_Move_NonNullBias : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -584,7 +608,11 @@ class ConstraintIMU_biasTest_Move_NonNullBiasRotCst : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -678,7 +706,11 @@ class ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -780,7 +812,11 @@ class ConstraintIMU_biasTest_Move_NonNullBiasRot : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION;
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -881,7 +917,11 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRot : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION;
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1017,7 +1057,11 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRot2 : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION;
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1156,7 +1200,11 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION;
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1291,7 +1339,11 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotXY : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION;
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1491,7 +1543,11 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasComplex : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1650,7 +1706,11 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasComplex_initOK : public testin
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1809,7 +1869,11 @@ class ConstraintIMU_ODOM_biasTest_Static_NullBiasNoisyComplex_initOK : public te
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -1968,7 +2032,11 @@ class ConstraintIMU_ODOM_biasTest_Move_BiasedNoisyComplex_initOK : public testin
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
ceres_options.max_num_iterations = 1e4;
+<<<<<<< HEAD
ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+=======
+ ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
+>>>>>>> master
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
@@ -2091,7 +2159,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_initOK)
//wolf_problem_ptr_->print(1,1,1,1);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//wolf_problem_ptr_->print(1,1,1,1);
@@ -2115,7 +2187,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
std::string report;
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2127,7 +2203,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2145,7 +2225,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2163,7 +2247,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2183,7 +2271,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2207,7 +2299,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_in
last_KF->getOPtr()->fix();
last_KF->getVPtr()->fix();
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2229,7 +2325,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
std::string report;
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2241,7 +2341,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2259,7 +2363,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2277,7 +2385,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2297,7 +2409,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2321,7 +2437,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_i
last_KF->getOPtr()->fix();
last_KF->getVPtr()->fix();
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2343,7 +2463,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
std::string report;
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2355,7 +2479,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2373,7 +2501,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2391,7 +2523,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2411,7 +2547,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2434,7 +2574,12 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
std::string report;
+=======
+ ceres::Solver::Summary summary;
+
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
epsilon_bias = 0.000001;
@@ -2445,7 +2590,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2463,7 +2612,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2481,7 +2634,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2501,7 +2658,11 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2525,7 +2686,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_initOK)
last_KF->getOPtr()->fix();
last_KF->getVPtr()->fix();
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2547,6 +2712,10 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2558,7 +2727,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2576,7 +2749,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2594,7 +2771,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2614,7 +2795,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2640,7 +2825,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_initOK)
//wolf_problem_ptr_->print(4,1,1,1);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
// wolf_problem_ptr_->print(4,1,1,1);
@@ -2664,6 +2853,10 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2675,7 +2868,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2693,7 +2890,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2711,7 +2912,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2731,7 +2936,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2757,7 +2966,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_i
//wolf_problem_ptr_->print(4,1,1,1);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//wolf_problem_ptr_->print(4,1,1,1);
@@ -2781,6 +2994,10 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2792,7 +3009,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2810,7 +3031,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2828,7 +3053,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2848,7 +3077,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2874,7 +3107,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
//wolf_problem_ptr_->print(4,1,1,1);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//wolf_problem_ptr_->print(4,1,1,1);
@@ -2898,6 +3135,10 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
wolf::Scalar epsilon_bias = 0.0000001;
Eigen::VectorXs perturbated_origin_state(x_origin);
+<<<<<<< HEAD
+=======
+ ceres::Solver::Summary summary;
+>>>>>>> master
//==============================================================
//WOLF_INFO("Starting error bias 1e-6")
@@ -2909,7 +3150,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2927,7 +3172,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2945,7 +3194,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2965,7 +3218,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
origin_KF->setState(perturbated_origin_state);
last_KF->setState(expected_final_state);
+<<<<<<< HEAD
report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2989,7 +3246,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst, VarB1B2V1P2V2_InvarP1Q
last_KF->getOPtr()->fix();
last_KF->getVPtr()->unfix();
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//Only biases are unfixed
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3014,7 +3275,11 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRot, VarB1B2V1P2V2_InvarP1Q1Q2_ini
//wolf_problem_ptr_->print(4,1,1,1);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
//wolf_problem_ptr_->print(4,1,1,1);
@@ -3048,7 +3313,11 @@ TEST_F(ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY, VarB1B2_InvarP1Q1V1P2Q2
//wolf_problem_ptr_->print(4,1,1,1);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
ceres_manager_wolf_diff->computeCovariances(ALL);
//wolf_problem_ptr_->print(4,1,1,1);
@@ -3100,7 +3369,11 @@ TEST_F(ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY, VarB1B2V2_InvarP1Q1V1P2
origin_KF->getAccBiasPtr()->setState(accBias + random_err);
origin_KF->getGyroBiasPtr()->setState(gyroBias + random_err);
+<<<<<<< HEAD
std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
+=======
+ ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
+>>>>>>> master
ceres_manager_wolf_diff->computeCovariances(ALL);
ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
diff --git a/src/wolf.h b/src/wolf.h
index baec7de52571ee8046199f082b79cbb4600470b1..cb8094e01f79df77b34032191276f32bb493a968 100644
--- a/src/wolf.h
+++ b/src/wolf.h
@@ -104,13 +104,14 @@ typedef Quaternion<wolf::Scalar> Quaternions; ///< Quaternion of r
typedef AngleAxis<wolf::Scalar> AngleAxiss; ///< Angle-Axis of real Scalar type
typedef Rotation2D<wolf::Scalar> Rotation2Ds; ///< Rotation2D of real Scalar type
-// 3. Sparse matrix
-typedef SparseMatrix<wolf::Scalar, RowMajor, int> SparseMatrixs;
typedef Transform<wolf::Scalar,2,Affine> Affine2ds; ///< Affine2d of real Scalar type
typedef Transform<wolf::Scalar,3,Affine> Affine3ds; ///< Affine3d of real Scalar type
typedef Transform<wolf::Scalar,2,Isometry> Isometry2ds; ///< Isometry2d of real Scalar type
typedef Transform<wolf::Scalar,3,Isometry> Isometry3ds; ///< Isometry3d of real Scalar type
+
+// 3. Sparse matrix
+typedef SparseMatrix<wolf::Scalar, RowMajor, int> SparseMatrixs;
}
namespace wolf {