Fixed small things

test/gtest_problem.cpp

@@ -244,20 +244,19 @@ TEST(Problem, StateBlocks)
 
     // 2 state blocks, fixed
     SensorBasePtr    St = P->installSensor   ("ODOM 2D", "other odometer", xs2d, "");
-    ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) (2 + 2)); // consume empties the notification map, so only should contain notification since last call
+    ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) (2 + 2));
 
     ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
     params->time_tolerance            = 0.1;
     params->max_new_features          = 5;
     params->min_features_for_keyframe = 10;
-    // ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(params));
+    
     auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params));
-    // St->addProcessor(pt);
     ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
 
     // 2 state blocks, estimated
     auto KF = P->emplaceFrame("PO", 3, KEY, xs3d, 0);
-    ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2 + 2)); // consume empties the notification map, so only should contain notification since last call
+    ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2 + 2));
 
     // Notifications
     Notification notif;
@@ -269,10 +268,7 @@ TEST(Problem, StateBlocks)
 
     // change some SB properties
     St->unfixExtrinsics();
-    // ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(0)); // consume empties the notification map, so only should contain notification since last call
-    // ASSERT_TRUE(P->consumeStateBlockNotificationMap().empty()); // changes in state_blocks status (fix/state/localparam) does not raise a notification in problem, only ADD/REMOVE
-    // ASSERT_EQ(P->getStateBlockPtrList().size(), (SizeStd)(2 + 2 + 2));
-    // ASSERT_EQ(P->getStateBlockNotificationMap().size(),(SizeStd)(2 + 2 + 2 /*+ 2*/)); // XXX: 2 more notifications on the same SB!
+    ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2 + 2)); // changes in state_blocks status (fix/state/localparam) does not raise a notification in problem, only ADD/REMOVE
 
     //    P->print(4,1,1,1);