diff --git a/src/test/gtest_constraint_imu.cpp b/src/test/gtest_constraint_imu.cpp
index 561a89b5dcd815bd5cd4fcddd9989751bcd4f763..4c19834f3af6c1edcf8ae4951d67a49f3ea4167a 100644
--- a/src/test/gtest_constraint_imu.cpp
+++ b/src/test/gtest_constraint_imu.cpp
@@ -69,11 +69,7 @@ class ConstraintIMU_biasTest_Static_NullBias : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -158,11 +154,7 @@ class ConstraintIMU_biasTest_Static_NonNullAccBias : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -247,11 +239,7 @@ class ConstraintIMU_biasTest_Static_NonNullGyroBias : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -337,11 +325,7 @@ class ConstraintIMU_biasTest_Static_NonNullBias : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -426,11 +410,7 @@ class ConstraintIMU_biasTest_Move_NullBias : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -519,11 +499,7 @@ class ConstraintIMU_biasTest_Move_NonNullBias : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -608,11 +584,7 @@ class ConstraintIMU_biasTest_Move_NonNullBiasRotCst : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -706,11 +678,7 @@ class ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -812,11 +780,7 @@ class ConstraintIMU_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;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -917,11 +881,7 @@ 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;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -1057,11 +1017,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRot2 : 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;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -1200,11 +1156,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY : 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;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -1339,11 +1291,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotXY : 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;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -1543,11 +1491,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasComplex : public testing::Test
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -1706,11 +1650,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasComplex_initOK : public testin
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -1869,11 +1809,7 @@ class ConstraintIMU_ODOM_biasTest_Static_NullBiasNoisyComplex_initOK : public te
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -2032,11 +1968,7 @@ class ConstraintIMU_ODOM_biasTest_Move_BiasedNoisyComplex_initOK : public testin
         ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;ceres::LINE_SEARCH
         ceres_options.max_line_search_step_contraction = 1e-3;
         ceres_options.max_num_iterations = 1e4;
-<<<<<<< HEAD
         ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options);
-=======
-        ceres_manager_wolf_diff = new CeresManager(wolf_problem_ptr_, ceres_options, true);
->>>>>>> master
 
         // 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");
@@ -2159,11 +2091,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_initOK)
 
     //wolf_problem_ptr_->print(1,1,1,1);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //wolf_problem_ptr_->print(1,1,1,1);
 
@@ -2187,11 +2115,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
     std::string report;
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -2203,11 +2127,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2225,11 +2145,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2247,11 +2163,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2271,11 +2183,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2299,11 +2207,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_in
     last_KF->getOPtr()->fix();
     last_KF->getVPtr()->fix();
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2325,11 +2229,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
     std::string report;
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -2341,11 +2241,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2363,11 +2259,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2385,11 +2277,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2409,11 +2297,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullAccBias,VarB1B2_InvarP1Q1V1P2Q2V2_Er
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2437,11 +2321,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_i
     last_KF->getOPtr()->fix();
     last_KF->getVPtr()->fix();
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2463,11 +2343,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
     std::string report;
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -2479,11 +2355,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2501,11 +2373,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2523,11 +2391,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2547,11 +2411,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullGyroBias,VarB1B2_InvarP1Q1V1P2Q2V2_E
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2574,12 +2434,8 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
     std::string report;
-=======
-    ceres::Solver::Summary summary;
 
->>>>>>> master
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
     epsilon_bias = 0.000001;
@@ -2590,11 +2446,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2612,11 +2464,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2634,11 +2482,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2658,11 +2502,7 @@ TEST_F(ConstraintIMU_biasTest_Static_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBi
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport;
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2686,11 +2526,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_initOK)
     last_KF->getOPtr()->fix();
     last_KF->getVPtr()->fix();
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2712,10 +2548,6 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -2727,11 +2559,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2749,11 +2577,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2771,11 +2595,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2795,11 +2615,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias)
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2825,11 +2641,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_initOK)
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
    // wolf_problem_ptr_->print(4,1,1,1);
 
@@ -2853,10 +2665,6 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -2868,11 +2676,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2890,11 +2694,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2912,11 +2712,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2936,11 +2732,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBias,VarB1B2_InvarP1Q1V1P2Q2V2_ErrBias
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -2966,11 +2758,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_i
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
@@ -2994,10 +2782,6 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -3009,11 +2793,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3031,11 +2811,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3053,11 +2829,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3077,11 +2849,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotCst,VarB1B2_InvarP1Q1V1P2Q2V2_E
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3107,11 +2875,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
@@ -3135,10 +2899,6 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
 
     wolf::Scalar epsilon_bias = 0.0000001;
     Eigen::VectorXs perturbated_origin_state(x_origin);
-<<<<<<< HEAD
-=======
-    ceres::Solver::Summary summary;
->>>>>>> master
 
     //==============================================================
     //WOLF_INFO("Starting error bias 1e-6")
@@ -3150,11 +2910,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3172,11 +2928,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3194,11 +2946,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
     origin_KF->setState(perturbated_origin_state);
     last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
     report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3218,11 +2966,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst,VarB1B2_InvarP1Q1V1P2Q2
         origin_KF->setState(perturbated_origin_state);
         last_KF->setState(expected_final_state);
 
-<<<<<<< HEAD
         report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-        summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
         //Only biases are unfixed
         ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3246,11 +2990,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRotAndVCst, VarB1B2V1P2V2_InvarP1Q
     last_KF->getOPtr()->fix();
     last_KF->getVPtr()->unfix();
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //Only biases are unfixed
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)
@@ -3275,11 +3015,7 @@ TEST_F(ConstraintIMU_biasTest_Move_NonNullBiasRot, VarB1B2V1P2V2_InvarP1Q1Q2_ini
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
@@ -3313,11 +3049,7 @@ TEST_F(ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY, VarB1B2_InvarP1Q1V1P2Q2
 
     //wolf_problem_ptr_->print(4,1,1,1);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
     ceres_manager_wolf_diff->computeCovariances(ALL);
 
     //wolf_problem_ptr_->print(4,1,1,1);
@@ -3369,11 +3101,7 @@ TEST_F(ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY, VarB1B2V2_InvarP1Q1V1P2
     origin_KF->getAccBiasPtr()->setState(accBias + random_err);
     origin_KF->getGyroBiasPtr()->setState(gyroBias + random_err);
 
-<<<<<<< HEAD
     std::string report = ceres_manager_wolf_diff->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-=======
-    ceres::Solver::Summary summary = ceres_manager_wolf_diff->solve();
->>>>>>> master
     ceres_manager_wolf_diff->computeCovariances(ALL);
 
     ASSERT_MATRIX_APPROX(origin_KF->getAccBiasPtr()->getState(), origin_bias.head(3), wolf::Constants::EPS*100)