added assertions for param blocks in ceres

test/gtest_constraint_gnss_fix_2D.cpp

@@ -153,10 +153,15 @@ TEST_F(ConstraintGnssFix2DTest, gnss_1_map_base_position)
 
     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_EQ(ceres_mgr_ptr->getSummary().num_parameter_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameters_reduced, 2);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residual_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residuals_reduced, 3);
+
     ASSERT_TRUE(cap_gnss_ptr->getFramePtr()->isKey());
     ASSERT_MATRIX_APPROX(cap_gnss_ptr->getFramePtr()->getState().head(2), t_map_base.head(2), 1e-6);
+
+    cap_gnss_ptr->getFramePtr()->remove();
 }
 
 /*
@@ -185,8 +190,15 @@ TEST_F(ConstraintGnssFix2DTest, gnss_1_map_base_orientation)
     // solve for frm
     std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::QUIET);
 
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameter_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameters_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residual_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residuals_reduced, 3);
+
     ASSERT_TRUE(cap_gnss_ptr->getFramePtr()->isKey());
     ASSERT_MATRIX_APPROX(cap_gnss_ptr->getFramePtr()->getOPtr()->getState(), o_map_base, 1e-6);
+
+    cap_gnss_ptr->getFramePtr()->remove();
 }
 
 /*
@@ -219,8 +231,15 @@ TEST_F(ConstraintGnssFix2DTest, gnss_1_enu_map_yaw)
     // solve for frm
     std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::QUIET);
 
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameter_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameters_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residual_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residuals_reduced, 3);
+
     ASSERT_TRUE(cap_gnss_ptr->getFramePtr()->isKey());
     ASSERT_MATRIX_APPROX(gnss_sensor_ptr->getEnuMapYawStatePtr()->getState(), o_enu_map, 1e-6);
+
+    cap_gnss_ptr->getFramePtr()->remove();
 }
 
 /*
@@ -254,8 +273,15 @@ TEST_F(ConstraintGnssFix2DTest, gnss_1_enu_map_position)
     // solve for frm
     std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::QUIET);
 
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameter_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameters_reduced, 3);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residual_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residuals_reduced, 3);
+
     ASSERT_TRUE(cap_gnss_ptr->getFramePtr()->isKey());
     ASSERT_MATRIX_APPROX(gnss_sensor_ptr->getEnuMapTranslationStatePtr()->getState().head(2), t_enu_map.head(2), 1e-6);
+
+    cap_gnss_ptr->getFramePtr()->remove();
 }
 
 /*
@@ -289,8 +315,15 @@ TEST_F(ConstraintGnssFix2DTest, gnss_1_base_antena)
     // solve for frm
     std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::QUIET);
 
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameter_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_parameters_reduced, 3);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residual_blocks_reduced, 1);
+    ASSERT_EQ(ceres_mgr_ptr->getSummary().num_residuals_reduced, 3);
+
     ASSERT_TRUE(cap_gnss_ptr->getFramePtr()->isKey());
     ASSERT_MATRIX_APPROX(gnss_sensor_ptr->getPPtr()->getState().head(2), t_base_antena.head(2), 1e-6);
+
+    cap_gnss_ptr->getFramePtr()->remove();
 }
 
 int main(int argc, char **argv)