From 372e763c8f61aca13f53c6c6c0a487a42d7bfad5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu> Date: Fri, 5 Apr 2019 16:21:01 +0200 Subject: [PATCH] Removed wrong addConstrainedBy calls --- test/gtest_factor_autodiff_apriltag.cpp | 30 ++++++------------------- 1 file changed, 7 insertions(+), 23 deletions(-) diff --git a/test/gtest_factor_autodiff_apriltag.cpp b/test/gtest_factor_autodiff_apriltag.cpp index c815e26eb..98f76ab71 100644 --- a/test/gtest_factor_autodiff_apriltag.cpp +++ b/test/gtest_factor_autodiff_apriltag.cpp @@ -215,12 +215,8 @@ TEST_F(FactorAutodiffApriltag_class, Check_tree) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - //check is returning true even without the lines below.... - WOLF_WARN("I think the lines below are needed... to be checked !") - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); ASSERT_TRUE(problem->check(0)); } @@ -236,10 +232,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_F1_P_perturbated) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); // unfix F1, perturbate state F1->unfix(); @@ -274,10 +268,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_F1_O_perturbated) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); // unfix F1, perturbate state F1->unfix(); @@ -314,10 +306,8 @@ TEST_F(FactorAutodiffApriltag_class, Check_initialization) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); ASSERT_MATRIX_APPROX(F1->getState(), pose_robot, 1e-6); ASSERT_MATRIX_APPROX(f1->getMeasurement(), pose_landmark, 1e-6); @@ -336,10 +326,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_P_perturbated) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); // unfix lmk1, perturbate state @@ -375,10 +363,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_O_perturbated) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); // unfix F1, perturbate state lmk1->unfix(); @@ -414,10 +400,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_PO_perturbated) CTR_ACTIVE ); - FactorAutodiffApriltagPtr ctr0 = std::static_pointer_cast<FactorAutodiffApriltag>(f1->addFactor(constraint)); + f1->addFactor(constraint); lmk1->addConstrainedBy(constraint); - F1->addConstrainedBy(constraint); - f1->addConstrainedBy(constraint); // Change setup Vector3s p_w_r, p_r_c, p_c_l, p_w_l; -- GitLab