From 7002b56b14184d097fdbc7fe13004146d1a57c23 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 13 May 2019 14:25:51 +0200
Subject: [PATCH] Fixed small things
---
test/gtest_problem.cpp | 12 ++++--------
1 file changed, 4 insertions(+), 8 deletions(-)
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 3e810a848..59d10c417 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -244,20 +244,19 @@ TEST(Problem, StateBlocks)
// 2 state blocks, fixed
SensorBasePtr St = P->installSensor ("ODOM 2D", "other odometer", xs2d, "");
- ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) (2 + 2)); // consume empties the notification map, so only should contain notification since last call
+ ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) (2 + 2));
ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
params->time_tolerance = 0.1;
params->max_new_features = 5;
params->min_features_for_keyframe = 10;
- // ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(params));
+
auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params));
- // St->addProcessor(pt);
ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
// 2 state blocks, estimated
auto KF = P->emplaceFrame("PO", 3, KEY, xs3d, 0);
- ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2 + 2)); // consume empties the notification map, so only should contain notification since last call
+ ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2 + 2));
// Notifications
Notification notif;
@@ -269,10 +268,7 @@ TEST(Problem, StateBlocks)
// change some SB properties
St->unfixExtrinsics();
- // ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(0)); // consume empties the notification map, so only should contain notification since last call
- // ASSERT_TRUE(P->consumeStateBlockNotificationMap().empty()); // changes in state_blocks status (fix/state/localparam) does not raise a notification in problem, only ADD/REMOVE
- // ASSERT_EQ(P->getStateBlockPtrList().size(), (SizeStd)(2 + 2 + 2));
- // ASSERT_EQ(P->getStateBlockNotificationMap().size(),(SizeStd)(2 + 2 + 2 /*+ 2*/)); // XXX: 2 more notifications on the same SB!
+ ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2 + 2)); // changes in state_blocks status (fix/state/localparam) does not raise a notification in problem, only ADD/REMOVE
// P->print(4,1,1,1);
--
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