From a78a917807c33e240ec803885b6cac26f88ba577 Mon Sep 17 00:00:00 2001 From: jvallve <jvallve@iri.upc.edu> Date: Thu, 21 Jul 2022 09:41:21 +0200 Subject: [PATCH] [skip ci] all base gtests ok --- demos/hello_wolf/yaml/processor_odom_2d.yaml | 2 +- test/CMakeLists.txt | 40 ++++++------ test/gtest_sensor_base.cpp | 48 +++++++------- test/gtest_state_block.cpp | 18 +++--- test/gtest_state_composite.cpp | 2 +- test/gtest_trajectory.cpp | 62 +++++++++---------- test/gtest_tree_manager.cpp | 2 +- test/yaml/params_problem_odom_3d.yaml | 2 +- test/yaml/params_tree_manager1.yaml | 2 +- test/yaml/params_tree_manager2.yaml | 2 +- .../params_tree_manager_sliding_window1.yaml | 2 +- .../params_tree_manager_sliding_window2.yaml | 2 +- ...ree_manager_sliding_window_dual_rate3.yaml | 2 +- ...ger_sliding_window_dual_rate_baseline.yaml | 2 +- 14 files changed, 94 insertions(+), 94 deletions(-) diff --git a/demos/hello_wolf/yaml/processor_odom_2d.yaml b/demos/hello_wolf/yaml/processor_odom_2d.yaml index 625676edf..ded2d752b 100644 --- a/demos/hello_wolf/yaml/processor_odom_2d.yaml +++ b/demos/hello_wolf/yaml/processor_odom_2d.yaml @@ -12,4 +12,4 @@ keyframe_vote: apply_loss_function: true state_provider: true -state_priority: 1 +state_provider_order: 1 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index f37dc9012..18e2d5273 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -106,35 +106,35 @@ wolf_add_gtest(gtest_SE3 gtest_SE3.cpp) # SE2 test wolf_add_gtest(gtest_SE2 gtest_SE2.cpp) -# # SensorBase test -# wolf_add_gtest(gtest_sensor_base gtest_sensor_base.cpp) +# SensorBase test +wolf_add_gtest(gtest_sensor_base gtest_sensor_base.cpp) -# # shared_from_this test -# wolf_add_gtest(gtest_shared_from_this gtest_shared_from_this.cpp) +# shared_from_this test +wolf_add_gtest(gtest_shared_from_this gtest_shared_from_this.cpp) -# # SolverManager test -# wolf_add_gtest(gtest_solver_manager gtest_solver_manager.cpp) +# SolverManager test +wolf_add_gtest(gtest_solver_manager gtest_solver_manager.cpp) -# # SolverManagerMultithread test -# wolf_add_gtest(gtest_solver_manager_multithread gtest_solver_manager_multithread.cpp) +# SolverManagerMultithread test +wolf_add_gtest(gtest_solver_manager_multithread gtest_solver_manager_multithread.cpp) -# # StateBlock class test -# wolf_add_gtest(gtest_state_block gtest_state_block.cpp) +# StateBlock class test +wolf_add_gtest(gtest_state_block gtest_state_block.cpp) -# # StateBlock class test -# wolf_add_gtest(gtest_state_composite gtest_state_composite.cpp) +# StateBlock class test +wolf_add_gtest(gtest_state_composite gtest_state_composite.cpp) -# # TimeStamp class test -# wolf_add_gtest(gtest_time_stamp gtest_time_stamp.cpp) +# TimeStamp class test +wolf_add_gtest(gtest_time_stamp gtest_time_stamp.cpp) -# # TrackMatrix class test -# wolf_add_gtest(gtest_track_matrix gtest_track_matrix.cpp) +# TrackMatrix class test +wolf_add_gtest(gtest_track_matrix gtest_track_matrix.cpp) -# # TrajectoryBase class test -# wolf_add_gtest(gtest_trajectory gtest_trajectory.cpp) +# TrajectoryBase class test +wolf_add_gtest(gtest_trajectory gtest_trajectory.cpp) -# # TreeManager class test -# wolf_add_gtest(gtest_tree_manager gtest_tree_manager.cpp) +# TreeManager class test +wolf_add_gtest(gtest_tree_manager gtest_tree_manager.cpp) # ------- Now Derived classes ---------- diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp index 634a8b795..d8d5fcc40 100644 --- a/test/gtest_sensor_base.cpp +++ b/test/gtest_sensor_base.cpp @@ -104,8 +104,8 @@ TEST(SensorBase, makeshared_priors_POfix2D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy2d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_2D)}, //default "fix", not dynamic - {'O',SpecStateSensor("O", o_state_2D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint2d", p_state_2D)}, //default "fix", not dynamic + {'O',SpecStateSensor("StateAngle", o_state_2D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -124,8 +124,8 @@ TEST(SensorBase, makeshared_priors_POfix3D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy3d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_3D)}, //default "fix", not dynamic - {'O',SpecStateSensor("O", o_state_3D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint3d", p_state_3D)}, //default "fix", not dynamic + {'O',SpecStateSensor("StateQuaternion", o_state_3D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -147,8 +147,8 @@ TEST(SensorBase, makeshared_priors_POinitial_guess2D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy2d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_2D, "initial_guess")}, - {'O',SpecStateSensor("O", o_state_2D, "initial_guess")}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint2d", p_state_2D, "initial_guess")}, + {'O',SpecStateSensor("StateAngle", o_state_2D, "initial_guess")}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -170,8 +170,8 @@ TEST(SensorBase, makeshared_priors_POinitial_guess3D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy3d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_3D, "initial_guess")}, - {'O',SpecStateSensor("O", o_state_3D, "initial_guess")}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint3d", p_state_3D, "initial_guess")}, + {'O',SpecStateSensor("StateQuaternion", o_state_3D, "initial_guess")}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -193,8 +193,8 @@ TEST(SensorBase, makeshared_priors_POfactor2D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy2d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_2D, "factor", p_std_2D)}, - {'O',SpecStateSensor("O", o_state_2D, "factor", o_std_2D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint2d", p_state_2D, "factor", p_std_2D)}, + {'O',SpecStateSensor("StateAngle", o_state_2D, "factor", o_std_2D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -216,8 +216,8 @@ TEST(SensorBase, makeshared_priors_POfactor3D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy3d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_3D, "factor", p_std_3D)}, - {'O',SpecStateSensor("O", o_state_3D, "factor", o_std_3D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint3d", p_state_3D, "factor", p_std_3D)}, + {'O',SpecStateSensor("StateQuaternion", o_state_3D, "factor", o_std_3D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -239,8 +239,8 @@ TEST(SensorBase, makeshared_priors_POinitial_guess_dynamic2D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy2d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_2D, "initial_guess", vector0, true)}, - {'O',SpecStateSensor("O", o_state_2D, "initial_guess", vector0, true)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint2d", p_state_2D, "initial_guess", vector0, true)}, + {'O',SpecStateSensor("StateAngle", o_state_2D, "initial_guess", vector0, true)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -262,8 +262,8 @@ TEST(SensorBase, makeshared_priors_POinitial_guess_dynamic3D) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy3d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_3D, "initial_guess", vector0, true)}, - {'O',SpecStateSensor("O", o_state_3D, "initial_guess", vector0, true)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint3d", p_state_3D, "initial_guess", vector0, true)}, + {'O',SpecStateSensor("StateQuaternion", o_state_3D, "initial_guess", vector0, true)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -285,8 +285,8 @@ TEST(SensorBase, makeshared_priors_POinitial_guess_dynamic2D_drift) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy2d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_2D, "initial_guess", vector0, true, p_std_2D)}, - {'O',SpecStateSensor("O", o_state_2D, "initial_guess", vector0, true, o_std_2D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint2d", p_state_2D, "initial_guess", vector0, true, p_std_2D)}, + {'O',SpecStateSensor("StateAngle", o_state_2D, "initial_guess", vector0, true, o_std_2D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -308,8 +308,8 @@ TEST(SensorBase, makeshared_priors_POinitial_guess_dynamic3D_drift) params->noise_o_std = noise_o_std; auto S = std::make_shared<SensorDummy3d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_3D, "initial_guess", vector0, true, p_std_3D)}, - {'O',SpecStateSensor("O", o_state_3D, "initial_guess", vector0, true, o_std_3D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint3d", p_state_3D, "initial_guess", vector0, true, p_std_3D)}, + {'O',SpecStateSensor("StateQuaternion", o_state_3D, "initial_guess", vector0, true, o_std_3D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); @@ -333,10 +333,10 @@ TEST(SensorBase, makeshared_priors_POIA_mixed) VectorXd i_state_3D = VectorXd::Random(5); auto S = std::make_shared<SensorDummy3d>(params, - SpecSensorComposite({{'P',SpecStateSensor("P", p_state_3D, "fix", vector0, true)}, - {'O',SpecStateSensor("O", o_state_3D, "factor", o_std_3D, true, o_std_3D)}, - {'I',SpecStateSensor("StateParams5", i_state_3D, "initial_guess")}, - {'A',SpecStateSensor("StateQuaternion", o_state_3D, "factor", o_std_3D)}})); + SpecSensorComposite({{'P',SpecStateSensor("StatePoint3d", p_state_3D, "fix", vector0, true)}, + {'O',SpecStateSensor("StateQuaternion", o_state_3D, "factor", o_std_3D, true, o_std_3D)}, + {'I',SpecStateSensor("StateParams5", i_state_3D, "initial_guess")}, + {'A',SpecStateSensor("StateQuaternion", o_state_3D, "factor", o_std_3D)}})); // noise ASSERT_MATRIX_APPROX(S->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS); diff --git a/test/gtest_state_block.cpp b/test/gtest_state_block.cpp index 5a6272fe4..fd6bb3655 100644 --- a/test/gtest_state_block.cpp +++ b/test/gtest_state_block.cpp @@ -103,7 +103,7 @@ TEST(StatePoint3d, transform_identity) Vector7d xtrf; xtrf << 0, 0, 0, 0, 0, 0, 1; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); sb.transform(trf); ASSERT_MATRIX_APPROX(sb.getState(), x0, 1e-15); @@ -116,7 +116,7 @@ TEST(StatePoint3d, transform_translation_4x5y6z) Vector7d xtrf; xtrf << 4, 5, 6, 0, 0, 0, 1; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); Vector3d x(5, 7, 9); // x0 translated (4,5,6) @@ -131,7 +131,7 @@ TEST(StatePoint3d, transform_rotation_90x) Vector7d xtrf; xtrf << 0, 0, 0, sqrt(2) / 2, 0, 0, sqrt(2) / 2; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); Vector3d x(1, -3, 2); // x0 rotated (90,0,0) @@ -146,7 +146,7 @@ TEST(StatePoint3d, transform_translation_1y_rotation_90x) Vector7d xtrf; xtrf << 0, 1, 0, sqrt(2) / 2, 0, 0, sqrt(2) / 2; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); Vector3d x(1, -2, 2); // x0 translated (0,1,0) and rotated (90,0,0) @@ -161,7 +161,7 @@ TEST(StatePoint3d, non_transformable_translation_rotation) Vector7d xtrf; xtrf << 0, 1, 0, sqrt(2) / 2, 0, 0, sqrt(2) / 2; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); Vector3d x(1, 2, 3); // x0 NOT translated (0,1,0) and NOT rotated (90,0,0) @@ -176,7 +176,7 @@ TEST(StateVector3d, transform_translation_1y_rotation_90x) Vector7d xtrf; xtrf << 0, 1, 0, sqrt(2) / 2, 0, 0, sqrt(2) / 2; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); Vector3d x(1, -3, 2); // x0 NOT translated (0,1,0) and rotated (90,0,0) @@ -191,7 +191,7 @@ TEST(StatePoint2d, transform_translation_1y_rotation_90) Vector3d xtrf; xtrf << 0, 1, M_PI / 2; - VectorComposite trf(xtrf, "PO", {2, 1}); + VectorComposite trf("PO", xtrf, {2, 1}); Vector2d x(-2, 2); // x0 translated (0,1) and rotated 90 deg @@ -206,7 +206,7 @@ TEST(StateVector2d, transform_translation_1y_rotation_90) Vector3d xtrf; xtrf << 0, 1, M_PI / 2; - VectorComposite trf(xtrf, "PO", {2, 1}); + VectorComposite trf("PO", xtrf, {2, 1}); Vector2d x(-2, 1); // x0 NON translated (0,1) and rotated 90 deg @@ -221,7 +221,7 @@ TEST(StateParams4, transform_translation_1y_rotation_90x) Vector7d xtrf; xtrf << 0, 1, 0, sqrt(2) / 2, 0, 0, sqrt(2) / 2; - VectorComposite trf(xtrf, "PO", {3, 4}); + VectorComposite trf("PO", xtrf, {3, 4}); Vector4d x(1, 2, 3, 4); // x0 NOT translated (0,1,0) and NOT rotated (90,0,0) diff --git a/test/gtest_state_composite.cpp b/test/gtest_state_composite.cpp index f077c1608..407fdea48 100644 --- a/test/gtest_state_composite.cpp +++ b/test/gtest_state_composite.cpp @@ -280,7 +280,7 @@ TEST(VectorComposite, constructor_copy) TEST(VectorComposite, constructor_from_list) { - VectorComposite v(Vector4d(1,2,3,4), "ab", {3,1}); + VectorComposite v("ab", Vector4d(1,2,3,4), {3,1}); ASSERT_MATRIX_APPROX(v.at('a'), Vector3d(1,2,3), 1e-20); ASSERT_MATRIX_APPROX(v.at('b'), Vector1d(4), 1e-20); diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp index a679c6116..46d0f06b4 100644 --- a/test/gtest_trajectory.cpp +++ b/test/gtest_trajectory.cpp @@ -53,34 +53,34 @@ TEST(TrajectoryBase, ClosestKeyFrame) // 1 2 3 4 time stamps // --+-----+-----+-----+---> time - FrameBasePtr F1 = P->emplaceFrame( 1, Eigen::Vector3d::Zero() ); - FrameBasePtr F2 = P->emplaceFrame( 2, Eigen::Vector3d::Zero() ); - FrameBasePtr F3 = std::make_shared<FrameBase>(3, P->getFrameKeys(), - // P->getDim(), - std::list<VectorXd>({Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()}) ); - FrameBasePtr F4 = std::make_shared<FrameBase>(4, P->getFrameKeys(), - // P->getDim(), - std::list<VectorXd>({Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()}) ); + FrameBasePtr F1 = P->emplaceFrame(1, "PO", Eigen::Vector3d::Zero() ); + FrameBasePtr F2 = P->emplaceFrame(2, "PO", Eigen::Vector3d::Zero() ); + FrameBasePtr F3 = std::make_shared<FrameBase>(3, + P->getFrameTypes(), + VectorComposite("PO", {Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()}) ); + FrameBasePtr F4 = std::make_shared<FrameBase>(4, + P->getFrameTypes(), + VectorComposite("PO", {Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()}) ); FrameBasePtr KF; // closest key-frame queried - KF = T->closestFrameToTimeStamp(-0.8); // before all keyframes --> return F1 - ASSERT_EQ(KF->id(), F1->id()); // same id! + KF = T->closestFrameToTimeStamp(-0.8); // before all keyframes --> return F1 + ASSERT_EQ(KF->id(), F1->id()); // same id! - KF = T->closestFrameToTimeStamp(1.1); // between keyframes --> return F1 - ASSERT_EQ(KF->id(), F1->id()); // same id! + KF = T->closestFrameToTimeStamp(1.1); // between keyframes --> return F1 + ASSERT_EQ(KF->id(), F1->id()); // same id! - KF = T->closestFrameToTimeStamp(1.9); // between keyframes --> return F2 - ASSERT_EQ(KF->id(), F2->id()); // same id! + KF = T->closestFrameToTimeStamp(1.9); // between keyframes --> return F2 + ASSERT_EQ(KF->id(), F2->id()); // same id! - KF = T->closestFrameToTimeStamp(2.6); // between keyframe and auxiliary frame, but closer to auxiliary frame --> return F2 - ASSERT_EQ(KF->id(), F2->id()); // same id! + KF = T->closestFrameToTimeStamp(2.6); // between keyframe and auxiliary frame, but closer to auxiliary frame --> return F2 + ASSERT_EQ(KF->id(), F2->id()); // same id! - KF = T->closestFrameToTimeStamp(3.2); // after the auxiliary frame, between closer to frame --> return F2 - ASSERT_EQ(KF->id(), F2->id()); // same id! + KF = T->closestFrameToTimeStamp(3.2); // after the auxiliary frame, between closer to frame --> return F2 + ASSERT_EQ(KF->id(), F2->id()); // same id! - KF = T->closestFrameToTimeStamp(4.2); // after the last frame --> return F2 - ASSERT_EQ(KF->id(), F2->id()); // same id! + KF = T->closestFrameToTimeStamp(4.2); // after the last frame --> return F2 + ASSERT_EQ(KF->id(), F2->id()); // same id! } TEST(TrajectoryBase, Add_Remove_Frame) @@ -100,25 +100,25 @@ TEST(TrajectoryBase, Add_Remove_Frame) std::cout << __LINE__ << std::endl; // add F1 - FrameBasePtr F1 = P->emplaceFrame(1, Eigen::Vector3d::Zero()); // 2 non-fixed + FrameBasePtr F1 = P->emplaceFrame(1, "PO", Eigen::Vector3d::Zero()); // 2 non-fixed if (debug) P->print(2,0,0,0); - ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1); + ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1); ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2); std::cout << __LINE__ << std::endl; // add F2 - FrameBasePtr F2 = P->emplaceFrame(2, Eigen::Vector3d::Zero()); // 1 fixed, 1 not + FrameBasePtr F2 = P->emplaceFrame(2, "PO", Eigen::Vector3d::Zero()); // 1 fixed, 1 not if (debug) P->print(2,0,0,0); - ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 2); + ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 2); ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 4); std::cout << __LINE__ << std::endl; // add F3 - FrameBasePtr F3 = std::make_shared<FrameBase>(3, P->getFrameKeys(), - // P->getDim(), - std::list<VectorXd>({Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()})); + FrameBasePtr F3 = std::make_shared<FrameBase>(3, + P->getFrameTypes(), + VectorComposite("PO", {Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()})); if (debug) P->print(2,0,0,0); - ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 2); + ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 2); ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 4); std::cout << __LINE__ << std::endl; @@ -132,7 +132,7 @@ TEST(TrajectoryBase, Add_Remove_Frame) // remove frames and keyframes F2->remove(); // KF if (debug) P->print(2,0,0,0); - ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1); + ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1); ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2); std::cout << __LINE__ << std::endl; @@ -141,14 +141,14 @@ TEST(TrajectoryBase, Add_Remove_Frame) F3->remove(); // F if (debug) P->print(2,0,0,0); - ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1); + ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1); std::cout << __LINE__ << std::endl; ASSERT_EQ(T->getLastFrame()->id(), F1->id()); F1->remove(); // KF if (debug) P->print(2,0,0,0); - ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 0); + ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 0); std::cout << __LINE__ << std::endl; N.update(); diff --git a/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp index ea5ab4946..f5d99215c 100644 --- a/test/gtest_tree_manager.cpp +++ b/test/gtest_tree_manager.cpp @@ -142,7 +142,7 @@ TEST(TreeManager, keyFrameCallback) ASSERT_EQ(GM->n_KF_, 0); Vector7d x; x << 1,2,3,0,0,0,1; - auto F0 = P->emplaceFrame(0, "PO", 3, x ); + auto F0 = P->emplaceFrame(0, "PO", x ); P->keyFrameCallback(F0, nullptr); ASSERT_EQ(GM->n_KF_, 1); diff --git a/test/yaml/params_problem_odom_3d.yaml b/test/yaml/params_problem_odom_3d.yaml index e49632f45..af63f2380 100644 --- a/test/yaml/params_problem_odom_3d.yaml +++ b/test/yaml/params_problem_odom_3d.yaml @@ -42,4 +42,4 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 diff --git a/test/yaml/params_tree_manager1.yaml b/test/yaml/params_tree_manager1.yaml index 3e59567cb..d4f544651 100644 --- a/test/yaml/params_tree_manager1.yaml +++ b/test/yaml/params_tree_manager1.yaml @@ -54,5 +54,5 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 diff --git a/test/yaml/params_tree_manager2.yaml b/test/yaml/params_tree_manager2.yaml index fb7b93ef5..65f41db62 100644 --- a/test/yaml/params_tree_manager2.yaml +++ b/test/yaml/params_tree_manager2.yaml @@ -54,5 +54,5 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml index 67d349e02..f5bfb8043 100644 --- a/test/yaml/params_tree_manager_sliding_window1.yaml +++ b/test/yaml/params_tree_manager_sliding_window1.yaml @@ -49,5 +49,5 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml index 01a6731f1..ad9f63af2 100644 --- a/test/yaml/params_tree_manager_sliding_window2.yaml +++ b/test/yaml/params_tree_manager_sliding_window2.yaml @@ -49,5 +49,5 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml index 5ff6eff5e..95043fc52 100644 --- a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml +++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml @@ -57,5 +57,5 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml index 288f3a9c2..d3dbb0d46 100644 --- a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml +++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml @@ -51,4 +51,4 @@ processors: unmeasured_perturbation_std: 0.00111 state_provider: true - state_priority: 1 + state_provider_order: 1 -- GitLab