set to compile processorIMU_jacobians fixtures

src/test/CMakeLists.txt

@@ -85,3 +85,6 @@ target_link_libraries(gtest_time_stamp ${PROJECT_NAME})
 wolf_add_gtest(gtest_trajectory gtest_trajectory.cpp)
 target_link_libraries(gtest_trajectory ${PROJECT_NAME})
 
+# ProcessorIMU_jacobians test
+wolf_add_gtest(gtest_processorIMU_jacobians gtest_processorIMU_jacobians.cpp)
+target_link_libraries(gtest_processorIMU_jacobians ${PROJECT_NAME})
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src/test/gtest_processorIMU_jacobians.cpp

@@ -5,4 +5,62 @@
  *      \author: AtDinesh
  */
 
- 
+ //Wolf
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+#include "wolf.h"
+#include "problem.h"
+#include "sensor_imu.h"
+#include "capture_imu.h"
+#include "state_block.h"
+#include "state_quaternion.h"
+#include "processor_imu_UnitTester.h"
+
+//std
+#include <iostream>
+#include <fstream>
+#include <iomanip>
+#include <ctime>
+#include <cmath>
+
+//google test
+#include "utils_gtest.h"
+
+//#define DEBUG_RESULTS
+//#define WRITE_RESULTS
+
+using namespace wolf;
+
+// A new one of these is created for each test
+class ProcessorIMU_jacobians : public testing::Test
+{
+    public:
+    TimeStamp t;
+    Eigen::Vector6s data_;
+
+    virtual void SetUp()
+    {
+        wolf::Scalar deg_to_rad = M_PI/180.0;
+        data_ << 10,0.5,3, 100*deg_to_rad,110*deg_to_rad,30*deg_to_rad;
+
+        // Wolf problem
+        ProblemPtr wolf_problem_ptr_ = Problem::create(FRM_PQVBB_3D);
+        Eigen::VectorXs IMU_extrinsics(7);
+        IMU_extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
+        //SensorBase* sensor_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", IMU_extrinsics, nullptr);
+        //wolf_problem_ptr_->installProcessor("IMU", "IMU pre-integrator", "Main IMU", "");
+    }
+
+    virtual void TearDown(){}
+};
+
+TEST_F(ProcessorIMU_jacobians, Dummy)
+{
+    ASSERT_TRUE(data_.size() == 6);
+}
+
+int main(int argc, char **argv)
+{
+    using namespace wolf;
+
+     testing::InitGoogleTest(&argc, argv);
+     return RUN_ALL_TESTS();
+}
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