From 9f7dc76f973ac57762e42ce053171a6ad884cf23 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 30 Oct 2017 17:53:54 +0100
Subject: [PATCH] Use shared_ptr for Ceres manager
---
src/test/gtest_constraint_imu.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/test/gtest_constraint_imu.cpp b/src/test/gtest_constraint_imu.cpp
index 03c2d03e2..2b3dcc789 100644
--- a/src/test/gtest_constraint_imu.cpp
+++ b/src/test/gtest_constraint_imu.cpp
@@ -848,7 +848,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRot : public testing::Test
SensorIMUPtr sen_imu;
SensorOdom3DPtr sen_odom3D;
ProblemPtr wolf_problem_ptr_;
- CeresManager* ceres_manager_wolf_diff;
+ CeresManagerPtr ceres_manager_wolf_diff;
ProcessorBasePtr processor_ptr_;
ProcessorIMUPtr processor_ptr_imu;
ProcessorOdom3DPtr processor_ptr_odom3D;
@@ -875,7 +875,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRot : public testing::Test
ceres_options.minimizer_type = ceres::TRUST_REGION;
// ceres_options.max_line_search_step_contraction = 1e-3;
// ceres_options.max_num_iterations = 1e4;
- ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
+ ceres_manager_wolf_diff = std::make_shared<CeresManager>(wolf_problem_ptr_, ceres_options);
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
--
GitLab