From 69cc485bb03d8a57fd917fa26669538e79068004 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Tue, 13 Dec 2016 10:46:15 +0100
Subject: [PATCH] comments
---
src/test/gtest_feature_imu.cpp | 9 +++++----
1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp
index 268a90d38..880841815 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);
--
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