diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp index d926255cecaf555658007cf8ea7fefc670bfc727..7a2fc058dcb61f2d9df6f34c746a1155dec29fff 100644 --- a/src/test/gtest_feature_imu.cpp +++ b/src/test/gtest_feature_imu.cpp @@ -3,20 +3,23 @@ #include "problem.h" #include "sensor_imu.h" #include "capture_imu.h" -#include "constraint_odom_3D.h" #include "state_block.h" #include "state_quaternion.h" #include "processor_imu.h" +#include "utils_gtest.h" +#include "../src/logging.h" + //#define DEBUG_RESULTS -class FeatureIMU : public testing::Test +class FeatureIMU_test : public testing::Test { public: //These can be accessed in fixtures wolf::ProblemPtr wolf_problem_ptr_; wolf::TimeStamp ts; + wolf::CaptureIMUPtr imu_ptr; //a new of this will be created for each new test virtual void SetUp() @@ -52,7 +55,7 @@ class FeatureIMU : public testing::Test wolf_problem_ptr_->getTrajectoryPtr()->addFrame(origin_frame); // Create one capture to store the IMU data arriving from (sensor / callback / file / etc.) - CaptureIMUPtr imu_ptr( std::make_shared<CaptureIMU>(t, sensor_ptr, data_) ); + imu_ptr = std::make_shared<CaptureIMU>(t, sensor_ptr, data_); imu_ptr->setFramePtr(origin_frame); //process data @@ -83,10 +86,10 @@ class FeatureIMU : public testing::Test } }; -TEST_F(FeatureIMU, test0) +TEST_F(FeatureIMU_test, test0) { // set variables - using namespace std; + using namespace wolf; Eigen::VectorXs state_vec; Eigen::VectorXs delta_preint; //FrameIMUPtr last_frame;