From b2cb547ffcbf2f329a9bccb314be22ceedf47882 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 6 Oct 2021 13:12:03 +0200
Subject: [PATCH] wip
---
test/gtest_processor_fix_wing_model.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/test/gtest_processor_fix_wing_model.cpp b/test/gtest_processor_fix_wing_model.cpp
index 61dc64445..a403302f2 100644
--- a/test/gtest_processor_fix_wing_model.cpp
+++ b/test/gtest_processor_fix_wing_model.cpp
@@ -3,6 +3,7 @@
#include "core/problem/problem.h"
#include "core/ceres_wrapper/solver_ceres.h"
#include "core/processor/processor_fix_wing_model.h"
+#include "core/state_block/state_quaternion.h"
// STL
#include <iterator>
@@ -72,10 +73,14 @@ TEST_F(ProcessorFixWingModelTest, keyFrameCallback)
ASSERT_EQ(cap->getFeatureList().size(), 1);
// check one factor
- auto fac = frm1->getFactorOf(processor, "FactorVelocityLocalDirection3d");
+ //auto fac = frm1->getFactorOf(processor, "FactorVelocityLocalDirection3d");
+ auto fac = frm1->getFactorOf(processor);
+ WOLF_INFO("processor ", processor);
+ WOLF_INFO("factor processor ", cap->getFeatureList().front()->getFactorList().front()->getProcessor());
ASSERT_TRUE(fac != nullptr);
+ WOLF_INFO("fac type", fac->getType());
ASSERT_TRUE(fac->getFeature() != nullptr);
- ASSERT_TRUE(fac->getCapture() == frm1->getCaptureOf(sensor));
+ ASSERT_TRUE(fac->getCapture() == cap);
}
TEST_F(ProcessorFixWingModelTest, keyFrameCallbackRepeated)
--
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