From 46c359d92bfdc86a494db59cd02344084866ecc9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 11 Feb 2019 15:16:28 +0100
Subject: [PATCH] assertions for strange bug
---
test/gtest_constraint_gnss_fix_2D.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/test/gtest_constraint_gnss_fix_2D.cpp b/test/gtest_constraint_gnss_fix_2D.cpp
index 5115834a7..c525ec932 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);
}
--
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