From 4644db2862ea863f4ad6014c67774079b1ef3138 Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Fri, 15 Mar 2024 11:12:49 +0100
Subject: [PATCH] [skip ci] applied clang format
---
demos/hello_wolf/processor_range_bearing.cpp | 2 +-
include/core/capture/capture_base.h | 1 -
include/core/composite/prior_composite.h | 2 +-
include/core/composite/vector_composite.h | 1 -
include/core/frame/frame_base.h | 1 -
include/core/landmark/landmark_base.h | 4 +-
src/capture/capture_diff_drive.cpp | 1 -
src/capture/capture_motion.cpp | 1 -
src/factor/factor_base.cpp | 10 +-
src/sensor/sensor_base.cpp | 4 +-
test/dummy/landmark_dummy.cpp | 5 +-
test/gtest_composite.cpp | 172 +++++++++---------
test/gtest_emplace.cpp | 30 +--
test/gtest_factor_pose_3d_with_extrinsics.cpp | 2 +-
...actor_relative_pose_2d_with_extrinsics.cpp | 2 +-
...actor_relative_pose_3d_with_extrinsics.cpp | 2 +-
...r_relative_position_2d_with_extrinsics.cpp | 2 +-
...r_relative_position_3d_with_extrinsics.cpp | 2 +-
test/gtest_frame_base.cpp | 9 +-
test/gtest_map.cpp | 6 +-
test/gtest_node_state_blocks.cpp | 39 ++--
test/gtest_problem.cpp | 4 +-
test/gtest_processor_base.cpp | 14 +-
test/gtest_processor_landmark_external.cpp | 2 +-
test/gtest_processor_odom_2d.cpp | 6 +-
.../gtest_processor_tracker_feature_dummy.cpp | 3 +-
test/gtest_vector_composite.cpp | 2 +-
27 files changed, 162 insertions(+), 167 deletions(-)
diff --git a/demos/hello_wolf/processor_range_bearing.cpp b/demos/hello_wolf/processor_range_bearing.cpp
index ccf1c5522..151b58915 100644
--- a/demos/hello_wolf/processor_range_bearing.cpp
+++ b/demos/hello_wolf/processor_range_bearing.cpp
@@ -75,7 +75,7 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
// 4. create or recover landmark
Landmark2dPtr lmk;
- auto lmk_it = known_lmks.find(id);
+ auto lmk_it = known_lmks.find(id);
if (lmk_it != known_lmks.end())
{
// known landmarks : recover landmark
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 1ea0197ca..da101c346 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -56,7 +56,6 @@ class CaptureBase : public NodeStateBlocks
void setProblem(ProblemPtr _problem) override final;
public:
-
/** \brief Constructor
*
* \param _type TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: derived type name
diff --git a/include/core/composite/prior_composite.h b/include/core/composite/prior_composite.h
index 4d78f83ea..63742f486 100644
--- a/include/core/composite/prior_composite.h
+++ b/include/core/composite/prior_composite.h
@@ -32,7 +32,7 @@ class Prior
{
protected:
std::string prior_mode_; // Prior mode can be 'initial_guess', 'fix' or 'factor'
- Eigen::VectorXd factor_std_; // factor noise std, sqrt of the diagonal of the covariance mtrix
+ Eigen::VectorXd factor_std_; // factor noise std, sqrt of the diagonal of the covariance mtrix
// (ONLY IF prior_mode_ == 'factor')
public:
diff --git a/include/core/composite/vector_composite.h b/include/core/composite/vector_composite.h
index 8ae285755..0f357cbcc 100644
--- a/include/core/composite/vector_composite.h
+++ b/include/core/composite/vector_composite.h
@@ -25,7 +25,6 @@
namespace wolf
{
-
class VectorComposite : public Composite<Eigen::VectorXd>
{
public:
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 0afb36173..96fa788f5 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -54,7 +54,6 @@ class FrameBase : public NodeStateBlocks
TimeStamp time_stamp_; ///< frame time stamp
public:
-
/** \brief Constructor time stamp and specs composite
*
* Constructor with time stamp and specs (types, vectors, priors)
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 401bcbe7d..2476497e8 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -116,8 +116,8 @@ class LandmarkBase : public NodeStateBlocks
const TypeComposite& _state_types,
const VectorComposite& _state_vectors,
const PriorComposite& _state_priors,
- const int _external_id = -1,
- const int _external_type = -1);
+ const int _external_id = -1,
+ const int _external_type = -1);
/** \brief Constructor with type, state types composite and a YAML node (to be used by the derived classes YAML
*node constructors)
diff --git a/src/capture/capture_diff_drive.cpp b/src/capture/capture_diff_drive.cpp
index 50fb08a14..ee5c2a504 100644
--- a/src/capture/capture_diff_drive.cpp
+++ b/src/capture/capture_diff_drive.cpp
@@ -23,7 +23,6 @@
namespace wolf
{
-
CaptureDiffDrive::CaptureDiffDrive(const TimeStamp& _ts,
const SensorBasePtr& _sensor_ptr,
const Eigen::VectorXd& _data,
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index d6631a7a8..210a193e1 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -22,7 +22,6 @@
namespace wolf
{
-
CaptureMotion::CaptureMotion(const std::string& _type,
const TimeStamp& _ts,
SensorBasePtr _sensor_ptr,
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 2809a6f34..0d5ba19a5 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -292,11 +292,11 @@ void FactorBase::link(FeatureBasePtr _ftr_ptr)
{
auto node = node_w.lock();
WOLF_WARN_COND(node == nullptr,
- "FactorBase::link: ",
- getType(),
- " id: ",
- id(),
- " node_state_blocks weak pointer is not valid");
+ "FactorBase::link: ",
+ getType(),
+ " id: ",
+ id(),
+ " node_state_blocks weak pointer is not valid");
if (node != nullptr)
{
WOLF_DEBUG_COND(node->getProblem() == nullptr,
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 5267d43e9..2d9fb444f 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -54,10 +54,10 @@ SensorBase::SensorBase(const std::string& _type,
for (auto state_pair : getStateBlockMap())
{
state_block_dynamic_.emplace(state_pair.first, dynamics.at(state_pair.first));
-
+
if (dynamics.at(state_pair.first) and drifts.count(state_pair.first))
setDriftStd(state_pair.first, drifts.at(state_pair.first));
-
+
WOLF_WARN_COND(not dynamics.at(state_pair.first) and drifts.count(state_pair.first),
"Sensor of type ",
_type,
diff --git a/test/dummy/landmark_dummy.cpp b/test/dummy/landmark_dummy.cpp
index a84df8024..c9c06e04c 100644
--- a/test/dummy/landmark_dummy.cpp
+++ b/test/dummy/landmark_dummy.cpp
@@ -26,7 +26,10 @@ LandmarkDummy::LandmarkDummy(const VectorComposite& _state_vectors,
const PriorComposite& _state_priors,
const int& _int_param,
const double& _double_param)
- : LandmarkBase("LandmarkDummy", {{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'A', "StateParams1"}}, _state_vectors, _state_priors),
+ : LandmarkBase("LandmarkDummy",
+ {{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'A', "StateParams1"}},
+ _state_vectors,
+ _state_priors),
int_param_(_int_param),
double_param_(_double_param)
{
diff --git a/test/gtest_composite.cpp b/test/gtest_composite.cpp
index 534b0a0ac..ccfea70b5 100644
--- a/test/gtest_composite.cpp
+++ b/test/gtest_composite.cpp
@@ -75,8 +75,8 @@ TEST(CompositeTest, ConstructorList)
WOLF_INFO(dc);
}
-TEST(CompositeTest, emplace) {
-
+TEST(CompositeTest, emplace)
+{
auto dc = DummyComposite();
dc.emplace('a', 1);
dc.emplace('b', 2);
@@ -136,15 +136,15 @@ TEST(CompositeTest, toYaml)
TEST(CompositeTest, ConstructorYamlPlain)
{
YAML::Node dc_yaml;
- dc_yaml["a"] = 1;
- dc_yaml["b"] = 2;
- dc_yaml["c"] = 3;
- dc_yaml["d"] = 4;
- dc_yaml["e"] = 5;
- dc_yaml["f"] = 6;
- dc_yaml["g"] = 7;
-
- auto dc = DummyComposite{dc_yaml, "", true}; // no field
+ dc_yaml["a"] = 1;
+ dc_yaml["b"] = 2;
+ dc_yaml["c"] = 3;
+ dc_yaml["d"] = 4;
+ dc_yaml["e"] = 5;
+ dc_yaml["f"] = 6;
+ dc_yaml["g"] = 7;
+
+ auto dc = DummyComposite{dc_yaml, "", true}; // no field
// getKeys
ASSERT_EQ(dc.getKeys(), "abcdefg");
@@ -171,21 +171,21 @@ TEST(CompositeTest, ConstructorYamlPlain)
TEST(CompositeTest, ConstructorYamlField)
{
YAML::Node dc_yaml;
- dc_yaml["a"]["dummy_field"] = 1;
- dc_yaml["a"]["other_field"] = "whatever_1";
- dc_yaml["b"]["dummy_field"] = 2;
- dc_yaml["b"]["other_field"] = "whatever_2";
- dc_yaml["c"]["dummy_field"] = 3;
- dc_yaml["c"]["other_field"] = "whatever_3";
- dc_yaml["d"]["dummy_field"] = 4;
- dc_yaml["d"]["other_field"] = "whatever_4";
- dc_yaml["e"]["dummy_field"] = 5;
- dc_yaml["e"]["other_field"] = "whatever_5";
- dc_yaml["f"]["dummy_field"] = 6;
- dc_yaml["f"]["other_field"] = "whatever_6";
- dc_yaml["g"]["dummy_field"] = 7;
- dc_yaml["g"]["other_field"] = "whatever_7";
-
+ dc_yaml["a"]["dummy_field"] = 1;
+ dc_yaml["a"]["other_field"] = "whatever_1";
+ dc_yaml["b"]["dummy_field"] = 2;
+ dc_yaml["b"]["other_field"] = "whatever_2";
+ dc_yaml["c"]["dummy_field"] = 3;
+ dc_yaml["c"]["other_field"] = "whatever_3";
+ dc_yaml["d"]["dummy_field"] = 4;
+ dc_yaml["d"]["other_field"] = "whatever_4";
+ dc_yaml["e"]["dummy_field"] = 5;
+ dc_yaml["e"]["other_field"] = "whatever_5";
+ dc_yaml["f"]["dummy_field"] = 6;
+ dc_yaml["f"]["other_field"] = "whatever_6";
+ dc_yaml["g"]["dummy_field"] = 7;
+ dc_yaml["g"]["other_field"] = "whatever_7";
+
auto dc = DummyComposite(dc_yaml, "dummy_field", true);
// getKeys
@@ -213,21 +213,21 @@ TEST(CompositeTest, ConstructorYamlField)
TEST(CompositeTest, ConstructorYamlFieldOptional)
{
YAML::Node dc_yaml;
- dc_yaml["a"]["dummy_field"] = 1;
- dc_yaml["a"]["other_field"] = "whatever_1";
- //dc_yaml["b"]["dummy_field"] = 2;
- dc_yaml["b"]["other_field"] = "whatever_2";
- dc_yaml["c"]["dummy_field"] = 3;
- dc_yaml["c"]["other_field"] = "whatever_3";
- dc_yaml["d"]["dummy_field"] = 4;
- dc_yaml["d"]["other_field"] = "whatever_4";
- dc_yaml["e"]["dummy_field"] = 5;
- dc_yaml["e"]["other_field"] = "whatever_5";
- dc_yaml["f"]["dummy_field"] = 6;
- dc_yaml["f"]["other_field"] = "whatever_6";
- dc_yaml["g"]["dummy_field"] = 7;
- dc_yaml["g"]["other_field"] = "whatever_7";
-
+ dc_yaml["a"]["dummy_field"] = 1;
+ dc_yaml["a"]["other_field"] = "whatever_1";
+ // dc_yaml["b"]["dummy_field"] = 2;
+ dc_yaml["b"]["other_field"] = "whatever_2";
+ dc_yaml["c"]["dummy_field"] = 3;
+ dc_yaml["c"]["other_field"] = "whatever_3";
+ dc_yaml["d"]["dummy_field"] = 4;
+ dc_yaml["d"]["other_field"] = "whatever_4";
+ dc_yaml["e"]["dummy_field"] = 5;
+ dc_yaml["e"]["other_field"] = "whatever_5";
+ dc_yaml["f"]["dummy_field"] = 6;
+ dc_yaml["f"]["other_field"] = "whatever_6";
+ dc_yaml["g"]["dummy_field"] = 7;
+ dc_yaml["g"]["other_field"] = "whatever_7";
+
auto dc = DummyComposite(dc_yaml, "dummy_field", false);
// getKeys
@@ -254,63 +254,63 @@ TEST(CompositeTest, ConstructorYamlFieldOptional)
TEST(CompositeTest, ConstructorYaml_wrong)
{
YAML::Node dc_yaml;
- dc_yaml["a"] = 1;
- dc_yaml["a"] = "whatever_1";
- //dc_yaml["b"] = 2;
- dc_yaml["b"] = "whatever_2";
- dc_yaml["c"] = 3;
- dc_yaml["c"] = "whatever_3";
- dc_yaml["d"] = 4;
- dc_yaml["d"] = "whatever_4";
- dc_yaml["e"] = 5;
- dc_yaml["e"] = "whatever_5";
- dc_yaml["f"] = 6;
- dc_yaml["f"] = "whatever_6";
- dc_yaml["g"] = 7;
- dc_yaml["g"] = "whatever_7";
-
+ dc_yaml["a"] = 1;
+ dc_yaml["a"] = "whatever_1";
+ // dc_yaml["b"] = 2;
+ dc_yaml["b"] = "whatever_2";
+ dc_yaml["c"] = 3;
+ dc_yaml["c"] = "whatever_3";
+ dc_yaml["d"] = 4;
+ dc_yaml["d"] = "whatever_4";
+ dc_yaml["e"] = 5;
+ dc_yaml["e"] = "whatever_5";
+ dc_yaml["f"] = 6;
+ dc_yaml["f"] = "whatever_6";
+ dc_yaml["g"] = 7;
+ dc_yaml["g"] = "whatever_7";
+
ASSERT_THROW(DummyComposite(dc_yaml, "", true), std::runtime_error);
}
TEST(CompositeTest, ConstructorYamlField_wrong)
{
YAML::Node dc_yaml;
- dc_yaml["a"]["dummy_field"] = 1;
- dc_yaml["a"]["other_field"] = "whatever_1";
- //dc_yaml["b"]["dummy_field"] = 2;
- dc_yaml["b"]["other_field"] = "whatever_2";
- dc_yaml["c"]["dummy_field"] = 3;
- dc_yaml["c"]["other_field"] = "whatever_3";
- dc_yaml["d"]["dummy_field"] = 4;
- dc_yaml["d"]["other_field"] = "whatever_4";
- dc_yaml["e"]["dummy_field"] = 5;
- dc_yaml["e"]["other_field"] = "whatever_5";
- dc_yaml["f"]["dummy_field"] = 6;
- dc_yaml["f"]["other_field"] = "whatever_6";
- dc_yaml["g"]["dummy_field"] = 7;
- dc_yaml["g"]["other_field"] = "whatever_7";
-
+ dc_yaml["a"]["dummy_field"] = 1;
+ dc_yaml["a"]["other_field"] = "whatever_1";
+ // dc_yaml["b"]["dummy_field"] = 2;
+ dc_yaml["b"]["other_field"] = "whatever_2";
+ dc_yaml["c"]["dummy_field"] = 3;
+ dc_yaml["c"]["other_field"] = "whatever_3";
+ dc_yaml["d"]["dummy_field"] = 4;
+ dc_yaml["d"]["other_field"] = "whatever_4";
+ dc_yaml["e"]["dummy_field"] = 5;
+ dc_yaml["e"]["other_field"] = "whatever_5";
+ dc_yaml["f"]["dummy_field"] = 6;
+ dc_yaml["f"]["other_field"] = "whatever_6";
+ dc_yaml["g"]["dummy_field"] = 7;
+ dc_yaml["g"]["other_field"] = "whatever_7";
+
ASSERT_THROW(DummyComposite(dc_yaml, "dummy_field", true), std::runtime_error);
}
TEST(CompositeTest, ConstructorYamlFieldKeys)
{
YAML::Node dc_yaml;
- dc_yaml["a"]["dummy_field"] = 1;
- dc_yaml["a"]["other_field"] = "whatever_1";
- dc_yaml["b"]["dummy_field"] = 2;
- dc_yaml["b"]["other_field"] = "whatever_2";
- dc_yaml["c"]["dummy_field"] = 3;
- dc_yaml["c"]["other_field"] = "whatever_3";
- dc_yaml["d"]["dummy_field"] = 4;
- dc_yaml["d"]["other_field"] = "whatever_4";
- dc_yaml["e"]["dummy_field"] = 5;
- dc_yaml["e"]["other_field"] = "whatever_5";
- dc_yaml["f"]["dummy_field"] = 6;
- dc_yaml["f"]["other_field"] = "whatever_6";
- dc_yaml["g"]["dummy_field"] = 7;
- dc_yaml["g"]["other_field"] = "whatever_7";
-
+ dc_yaml["a"]["dummy_field"] = 1;
+ dc_yaml["a"]["other_field"] = "whatever_1";
+ dc_yaml["b"]["dummy_field"] = 2;
+ dc_yaml["b"]["other_field"] = "whatever_2";
+ dc_yaml["c"]["dummy_field"] = 3;
+ dc_yaml["c"]["other_field"] = "whatever_3";
+ dc_yaml["d"]["dummy_field"] = 4;
+ dc_yaml["d"]["other_field"] = "whatever_4";
+ dc_yaml["e"]["dummy_field"] = 5;
+ dc_yaml["e"]["other_field"] = "whatever_5";
+ dc_yaml["f"]["dummy_field"] = 6;
+ dc_yaml["f"]["other_field"] = "whatever_6";
+ dc_yaml["g"]["dummy_field"] = 7;
+ dc_yaml["g"]["other_field"] = "whatever_7";
+
auto dc = DummyComposite{dc_yaml, "dummy_field", true, "aceg"};
// getKeys
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 23093bb6c..2471162fe 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -52,8 +52,8 @@ TEST(Emplace, Landmark)
ASSERT_EQ(P->getMap(), L->getMap());
ASSERT_EQ(P->getMap()->getLandmarkList().front(), L);
- auto L2 = LandmarkBase::emplace<Landmark3d>(
- P->getMap(), VectorComposite{{'P', Vector3d::Zero()}}, PriorComposite());
+ auto L2 =
+ LandmarkBase::emplace<Landmark3d>(P->getMap(), VectorComposite{{'P', Vector3d::Zero()}}, PriorComposite());
ASSERT_EQ(P, L2->getProblem());
ASSERT_EQ(P->getMap(), L2->getMap());
@@ -64,7 +64,7 @@ TEST(Emplace, Sensor)
{
ProblemPtr P = Problem::create("POV", 3);
- auto params = YAML::LoadFile(wolf_dir + "/test/yaml/sensor_tests/sensor_PO_3D_fix.yaml");
+ auto params = YAML::LoadFile(wolf_dir + "/test/yaml/sensor_tests/sensor_PO_3D_fix.yaml");
auto S = SensorBase::emplace<SensorDummyPo3d>(P->getHardware(), params, {wolf_dir});
@@ -283,17 +283,19 @@ TEST(Emplace, ReturnDerived)
ASSERT_NE(P->getTrajectory(), nullptr);
- auto F0 = FrameBase::emplace<FrameBase>(P->getTrajectory(),
- TimeStamp(0),
- TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}},
- VectorComposite{{'P', Vector3d::Random()}, {'O', Vector4d::Random().normalized()}},
- PriorComposite{});
-
- auto F = FrameBase::emplace<FrameBase>(P->getTrajectory(),
- TimeStamp(1),
- TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}},
- VectorComposite{{'P', Vector3d::Random()}, {'O', Vector4d::Random().normalized()}},
- PriorComposite{});
+ auto F0 = FrameBase::emplace<FrameBase>(
+ P->getTrajectory(),
+ TimeStamp(0),
+ TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}},
+ VectorComposite{{'P', Vector3d::Random()}, {'O', Vector4d::Random().normalized()}},
+ PriorComposite{});
+
+ auto F = FrameBase::emplace<FrameBase>(
+ P->getTrajectory(),
+ TimeStamp(1),
+ TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}},
+ VectorComposite{{'P', Vector3d::Random()}, {'O', Vector4d::Random().normalized()}},
+ PriorComposite{});
auto C = CaptureBase::emplace<CaptureBase>(F, "Dummy", TimeStamp(1), nullptr);
diff --git a/test/gtest_factor_pose_3d_with_extrinsics.cpp b/test/gtest_factor_pose_3d_with_extrinsics.cpp
index 3caf56907..abebef948 100644
--- a/test/gtest_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_3d_with_extrinsics.cpp
@@ -44,7 +44,7 @@ auto problem_ptr = Problem::create("PO", 3);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor_pose3d = problem_ptr->installSensor(wolf_dir + "/test/yaml/sensor_pose_3d.yaml", {wolf_dir});
+auto sensor_pose3d = problem_ptr -> installSensor(wolf_dir + "/test/yaml/sensor_pose_3d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm = problem_ptr->emplaceFrame(0, problem_ptr->stateZero());
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index eefcff404..3da1a2e5c 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -50,7 +50,7 @@ auto problem_ptr = Problem::create("PO", 2);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor(wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor(wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm0 = problem_ptr->emplaceFrame(0.0, problem_ptr->stateZero());
diff --git a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
index 3a2c58ddc..8920e50ad 100644
--- a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
@@ -47,7 +47,7 @@ auto problem_ptr = Problem::create("PO", 3);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor(wolf_dir + "/test/yaml/sensor_odom_3d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor(wolf_dir + "/test/yaml/sensor_odom_3d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm0 = problem_ptr->emplaceFrame(0.0, problem_ptr->stateZero());
diff --git a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
index 3380cd62c..8c10f8444 100644
--- a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
@@ -50,7 +50,7 @@ auto problem_ptr = Problem::create("PO", 2);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor(wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor(wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
// Frame
FrameBasePtr frm = problem_ptr->emplaceFrame(0.0, problem_ptr->stateZero());
diff --git a/test/gtest_factor_relative_position_3d_with_extrinsics.cpp b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
index 1a45f83d5..68b39536c 100644
--- a/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_3d_with_extrinsics.cpp
@@ -50,7 +50,7 @@ auto problem_ptr = Problem::create("PO", 3);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor(wolf_dir + "/test/yaml/sensor_odom_3d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor(wolf_dir + "/test/yaml/sensor_odom_3d.yaml", {wolf_dir});
// Frame
FrameBasePtr frm = problem_ptr->emplaceFrame(0.0, problem_ptr->stateZero());
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 0a212414a..dc6f265da 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -434,10 +434,11 @@ TEST(FrameBase, Frames)
TEST(FrameBase, GetSetState)
{
// Create PQV_3d frame
- FrameBase F(1,
- TypeComposite{{'P', "StatePoint3d"}, {'V', "StateVector3d"}, {'O', "StateQuaternion"}},
- VectorComposite{{'P', Vector3d::Zero()}, {'V', Vector3d::Zero()}, {'O', Vector4d::Random().normalized()}},
- PriorComposite());
+ FrameBase F(
+ 1,
+ TypeComposite{{'P', "StatePoint3d"}, {'V', "StateVector3d"}, {'O', "StateQuaternion"}},
+ VectorComposite{{'P', Vector3d::Zero()}, {'V', Vector3d::Zero()}, {'O', Vector4d::Random().normalized()}},
+ PriorComposite());
// Give values to vectors and vector blocks
VectorXd x(10), x1(10), x2(10);
diff --git a/test/gtest_map.cpp b/test/gtest_map.cpp
index b5c423f2c..30a09c2b1 100644
--- a/test/gtest_map.cpp
+++ b/test/gtest_map.cpp
@@ -130,8 +130,8 @@ TEST(MapYaml, save_3d)
int_param,
double_param);
auto lmk4 = LandmarkBase::emplace<LandmarkDummy>(problem->getMap(),
- VectorComposite{{'P', pdummy},//
- {'O', odummy},
+ VectorComposite{{'P', pdummy}, //
+ {'O', odummy},
{'A', Vector1d(double_param)}},
PriorComposite{{'P', Prior("initial_guess")}, //
{'O', Prior("fix")},
@@ -259,7 +259,7 @@ TEST(MapYaml, load)
ASSERT_EQ(lmk->getExternalId(), -1);
ASSERT_EQ(lmk->getExternalType(), -1);
}
- else
+ else
ASSERT_FALSE(true);
}
diff --git a/test/gtest_node_state_blocks.cpp b/test/gtest_node_state_blocks.cpp
index f8e1917f1..35c627f24 100644
--- a/test/gtest_node_state_blocks.cpp
+++ b/test/gtest_node_state_blocks.cpp
@@ -103,9 +103,9 @@ TEST(NodeStateBlocksTest, constructor_type_vector_prior)
TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}, {'I', "StateParams5"}, {'A', "StateAngle"}};
auto vectors = VectorComposite{{'P', p_state}, {'O', o_state}, {'I', i_state}, {'A', a_state}};
auto priors = PriorComposite{{'P', Prior("fix")},
- {'O', Prior("factor", o_std)},
- {'I', Prior("initial_guess")},
- {'A', Prior("factor", a_std)}};
+ {'O', Prior("factor", o_std)},
+ {'I', Prior("initial_guess")},
+ {'A', Prior("factor", a_std)}};
auto N = std::make_shared<NodeStateBlocksDummy>(types, vectors, priors);
ASSERT_TRUE(N->has("POIA"));
@@ -146,33 +146,28 @@ TEST(NodeStateBlocksTest, constructor_type_vector_prior)
class NodeStateBlocksDerivedTest : public testing::Test
{
public:
- ProblemPtr problem;
- SensorBasePtr S0, S1;
- FrameBasePtr F0, F1;
- StateBlockPtr sbp0, sbo0, sbv0, sbp1, sbv1;
- FactorBasePtr f0p;
+ ProblemPtr problem;
+ SensorBasePtr S0, S1;
+ FrameBasePtr F0, F1;
+ StateBlockPtr sbp0, sbo0, sbv0, sbp1, sbv1;
+ FactorBasePtr f0p;
void SetUp() override
{
problem = Problem::create("POV", 3);
// Two frames not linked to problem
- F0 = FrameBase::emplace<FrameBase>(nullptr,
- 0.0,
- TypeComposite{{'P', "StatePoint3d"},
- {'O', "StateQuaternion"}},
- VectorComposite{{'P', Vector3d::Zero()},
- {'O', Vector4d(Quaterniond::Identity().coeffs())}},
- PriorComposite{{'P', Prior("factor", Vector3d::Ones())}});
- F1 = FrameBase::emplace<FrameBase>(nullptr,
- 1.0,
- TypeComposite(),
- VectorComposite(),
- PriorComposite());
+ F0 = FrameBase::emplace<FrameBase>(
+ nullptr,
+ 0.0,
+ TypeComposite{{'P', "StatePoint3d"}, {'O', "StateQuaternion"}},
+ VectorComposite{{'P', Vector3d::Zero()}, {'O', Vector4d(Quaterniond::Identity().coeffs())}},
+ PriorComposite{{'P', Prior("factor", Vector3d::Ones())}});
+ F1 = FrameBase::emplace<FrameBase>(nullptr, 1.0, TypeComposite(), VectorComposite(), PriorComposite());
f0p = F0->getPriorFactor('P');
sbp0 = F0->getStateBlock('P');
sbo0 = F0->getStateBlock('O');
-
+
ASSERT_TRUE(f0p);
ASSERT_TRUE(sbp0);
ASSERT_TRUE(sbo0);
@@ -273,7 +268,7 @@ TEST_F(NodeStateBlocksDerivedTest, notify_prior_factors)
// create solver
SolverManagerPtr solver = SolverCeres::create(problem, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
-
+
// update will consume notifications
solver->update();
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 72abad4bc..84f7db992 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -96,7 +96,7 @@ TEST(Problem, emplaceFirstFrame_PO_2d)
TimeStamp t0(0);
VectorComposite first_frame_values{{'P', Vector2d(1, 2)}, {'O', Vector1d(3)}};
PriorComposite first_frame_priors{{'P', Prior("factor", Vector2d::Constant(sqrt(0.1)))},
- {'O', Prior("factor", Vector1d::Constant(sqrt(0.1)))}};
+ {'O', Prior("factor", Vector1d::Constant(sqrt(0.1)))}};
P->emplaceFirstFrame(t0, {{'P', "StatePoint2d"}, {'O', "StateAngle"}}, first_frame_values, first_frame_priors);
WOLF_INFO("printing...");
@@ -150,7 +150,7 @@ TEST(Problem, emplaceFirstFrame_PO_3d)
TimeStamp t0(0);
VectorComposite first_frame_values{{'P', Vector3d(1, 2, 3)}, {'O', Vector4d(4, 5, 6, 7).normalized()}};
PriorComposite first_frame_priors{{'P', Prior("factor", Vector3d::Constant(sqrt(0.1)))},
- {'O', Prior("factor", Vector3d::Constant(sqrt(0.1)))}};
+ {'O', Prior("factor", Vector3d::Constant(sqrt(0.1)))}};
P->emplaceFirstFrame(
t0, {{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, first_frame_values, first_frame_priors);
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index 7e56bae02..647bf7e15 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -83,12 +83,12 @@ TEST(ProcessorBase, KeyFrameCallback)
// Sequence to test Key Frame creations (callback calls)
// initialize
- TimeStamp t(0.0);
+ TimeStamp t(0.0);
problem->emplaceFirstFrame(t,
- TypeComposite{{'P', "StatePoint2d"},{'O', "StateAngle"}},
- VectorComposite{{'P', Vector2d::Zero()}, {'O', Vector1d::Zero()}},
- PriorComposite{{'P', Prior("factor", Vector2d::Constant(sqrt(0.1)))}, {'O', Prior("factor", Vector1d::Constant(sqrt(0.1)))}}
- );
+ TypeComposite{{'P', "StatePoint2d"}, {'O', "StateAngle"}},
+ VectorComposite{{'P', Vector2d::Zero()}, {'O', Vector1d::Zero()}},
+ PriorComposite{{'P', Prior("factor", Vector2d::Constant(sqrt(0.1)))},
+ {'O', Prior("factor", Vector1d::Constant(sqrt(0.1)))}});
CaptureOdom2dPtr capt_odo = std::make_shared<CaptureOdom2d>(t, sens_odo, Vector2d(0.5, 0));
@@ -116,9 +116,7 @@ TEST(ProcessorBase, KeyFrameCallback)
std::cout << "5\n";
// keyframe creation
- if (ii == 5)
- problem->emplaceFrame(t,
- VectorComposite{{'P', Vector2d(0, 0)},{'O', Vector1d(0)}});
+ if (ii == 5) problem->emplaceFrame(t, VectorComposite{{'P', Vector2d(0, 0)}, {'O', Vector1d(0)}});
problem->print(4, 1, 1, 0);
std::cout << "6\n";
diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index afe5e08d9..0c9770023 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/test/gtest_processor_landmark_external.cpp
@@ -323,7 +323,7 @@ void ProcessorLandmarkExternalTest::testConfiguration(int _dim,
// process detections
cap->process();
ASSERT_TRUE(problem->check());
- //problem->print(4, 1, 1, 1);
+ // problem->print(4, 1, 1, 1);
// CHECKS
fac_list.clear();
diff --git a/test/gtest_processor_odom_2d.cpp b/test/gtest_processor_odom_2d.cpp
index 17be901e4..5c62eff0c 100644
--- a/test/gtest_processor_odom_2d.cpp
+++ b/test/gtest_processor_odom_2d.cpp
@@ -118,7 +118,7 @@ TEST(ProcessorOdom2d, VoteForKfAndSolve)
ASSERT_TRUE(KF->getProblem());
- problem->print(4,1,1,1);
+ problem->print(4, 1, 1, 1);
problem->check(4);
auto report = solver->solve(SolverManager::ReportVerbosity::FULL);
@@ -315,8 +315,8 @@ TEST(ProcessorOdom2d, KF_callback)
std::cout << "-----------------------------\nSplit after last KF; time: " << t_split << std::endl;
- VectorComposite x_split = processor_odom2d->getState(t_split, "PO");
- FrameBasePtr keyframe_2 = problem->emplaceFrame(t_split, x_split);
+ VectorComposite x_split = processor_odom2d->getState(t_split, "PO");
+ FrameBasePtr keyframe_2 = problem->emplaceFrame(t_split, x_split);
// there must be 2KF and one F
ASSERT_EQ(problem->getTrajectory()->size(), 2);
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index 98136b31d..ce980fcf7 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -200,7 +200,8 @@ TEST_F(ProcessorTrackerFeatureDummyTest, establishFactors)
processor->setLast(last_cap);
// Put a capture on incoming_ptr_
- FrameBasePtr inc_frm = FrameBase::emplace<FrameBase>(nullptr, 1, problem->getFrameTypes(), problem->stateZero("P"));
+ FrameBasePtr inc_frm =
+ FrameBase::emplace<FrameBase>(nullptr, 1, problem->getFrameTypes(), problem->stateZero("P"));
CaptureBasePtr inc_cap = CaptureBase::emplace<CaptureVoid>(inc_frm, 1, sensor);
processor->setInc(inc_cap);
diff --git a/test/gtest_vector_composite.cpp b/test/gtest_vector_composite.cpp
index fd980fd8e..8866142c6 100644
--- a/test/gtest_vector_composite.cpp
+++ b/test/gtest_vector_composite.cpp
@@ -34,7 +34,7 @@ TEST(VectorComposite, constructor_empty)
TEST(VectorComposite, constructor_list)
{
- VectorComposite u{{'a', Vector2d(1, 2)},{'b', Vector3d(3, 4, 5)}}; // std::map API
+ VectorComposite u{{'a', Vector2d(1, 2)}, {'b', Vector3d(3, 4, 5)}}; // std::map API
ASSERT_EQ(u.getKeys(), "ab");
ASSERT_MATRIX_APPROX(u['a'], Vector2d(1, 2), 1e-20);
--
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