diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp index 268a90d389c748246c7bd209f78b3f1d3f08e411..8808418157e478daaf8b33a8914465aaaaa5ba25 100644 --- a/src/test/gtest_feature_imu.cpp +++ b/src/test/gtest_feature_imu.cpp @@ -83,7 +83,8 @@ class FeatureIMU_test : public testing::Test delta_preint_cov = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentDeltaPreintCov(); delta_preint = wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_; feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov); - feat_imu->setCapturePtr(imu_ptr); + feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture + //FIXME : capture may not be associated to a frame... } @@ -101,15 +102,15 @@ class FeatureIMU_test : public testing::Test } }; -TEST_F(FeatureIMU_test, test0) +TEST_F(FeatureIMU_test, check_frame) { // set variables using namespace wolf; - //create a constraintIMU - //ConstraintIMUPtr constraint_imu = std::make_shared<ConstraintIMU>(feat_imu, last_frame); //FIXME : Feature not linked to origin frame FrameBasePtr frame_base = feat_imu->getFramePtr(); + + //ConstraintIMUPtr constraint_imu = std::make_shared<ConstraintIMU>(feat_imu, last_frame); //ConstraintIMU constraint_imu(feat_imu, last_frame); //feat_imu->addConstraint(constraint_imu); //previous_frame->addConstrainedBy(constraint_imu);