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Commit 8e2bb7cf authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Fix test for working with composites

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1 merge request!366Resolve "Complete state vector new data structure?"
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test/gtest_factor_block_difference.cpp
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......@@ -51,7 +51,7 @@ class FixtureFactorBlockDifference : public testing::Test
// Vector10d x_origin = problem_->stateZero().vector("POV");
VectorComposite x_origin(problem_->stateZero().vector("POV"), "POV", {3, 4, 3});
// Eigen::Matrix9d cov_prior = 1e-3 * Eigen::Matrix9d::Identity();
VectorComposite cov_prior(Vector3d(sqrt(0.1),sqrt(0.1),sqrt(0.1)), "POV", {1,1,1});
VectorComposite cov_prior("POV", {Vector3d(sqrt(0.1),sqrt(0.1),sqrt(0.1)),Vector3d(sqrt(0.1),sqrt(0.1),sqrt(0.1)),Vector3d(sqrt(0.1),sqrt(0.1),sqrt(0.1))});
KF0_ = problem_->setPriorFactor(x_origin, cov_prior, t0, 0.1);
//CaptureBasePtr capV0 = CaptureBase::emplace<CaptureBase>(KF0_, "Vel0", t0);
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