From a941b5a0f893a534315793912cb30a9965bbccb9 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 14 Dec 2016 14:29:30 +0100
Subject: [PATCH] using other constructor for FeatureIMU
---
src/test/gtest_feature_imu.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp
index 63f9fe299..60288f182 100644
--- a/src/test/gtest_feature_imu.cpp
+++ b/src/test/gtest_feature_imu.cpp
@@ -85,9 +85,9 @@ class FeatureIMU_test : public testing::Test
//create a feature
delta_preint_cov = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentDeltaPreintCov();
delta_preint = wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_;
- feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
+ //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
std::static_pointer_cast<wolf::ProcessorIMU>(wolf_problem_ptr_->getProcessorMotionPtr())->getJacobians(dD_db_jacobians);
- //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, dD_db_jacobians);
+ feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, imu_ptr, dD_db_jacobians);
feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture
}
--
GitLab