diff --git a/test/gtest_constraint_gnss_fix_2D.cpp b/test/gtest_constraint_gnss_fix_2D.cpp index 5115834a73e3aa1b23694f94fce6a0a9ddbdbe96..c525ec9326143592d848250b1c679dfdd7951f1a 100644 --- a/test/gtest_constraint_gnss_fix_2D.cpp +++ b/test/gtest_constraint_gnss_fix_2D.cpp @@ -149,8 +149,12 @@ TEST_F(ConstraintGnssFix2DTest, gnss_1_map_base_position) cap_gnss_ptr->getFramePtr()->setState(frm_dist); // solve for frm - std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::QUIET); + std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::FULL); + + std::cout << report << std::endl; + ASSERT_TRUE(ceres_mgr_ptr->getSummary().num_parameter_blocks_reduced == 1); + ASSERT_TRUE(ceres_mgr_ptr->getSummary().num_parameters == 2); ASSERT_TRUE(cap_gnss_ptr->getFramePtr()->isKey()); ASSERT_MATRIX_APPROX(cap_gnss_ptr->getFramePtr()->getState().head(2), t_map_base.head(2), 1e-6); }