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Commit b2cb547f authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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parent 7a0a5a09
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1 merge request!419Resolve "Processor motion model"
Pipeline #6751 failed
This commit is part of merge request !419. Comments created here will be created in the context of that merge request.
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test/gtest_processor_fix_wing_model.cpp
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...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
#include "core/problem/problem.h" #include "core/problem/problem.h"
#include "core/ceres_wrapper/solver_ceres.h" #include "core/ceres_wrapper/solver_ceres.h"
#include "core/processor/processor_fix_wing_model.h" #include "core/processor/processor_fix_wing_model.h"
#include "core/state_block/state_quaternion.h"
// STL // STL
#include <iterator> #include <iterator>
...@@ -72,10 +73,14 @@ TEST_F(ProcessorFixWingModelTest, keyFrameCallback) ...@@ -72,10 +73,14 @@ TEST_F(ProcessorFixWingModelTest, keyFrameCallback)
ASSERT_EQ(cap->getFeatureList().size(), 1); ASSERT_EQ(cap->getFeatureList().size(), 1);
// check one factor // 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); ASSERT_TRUE(fac != nullptr);
WOLF_INFO("fac type", fac->getType());
ASSERT_TRUE(fac->getFeature() != nullptr); ASSERT_TRUE(fac->getFeature() != nullptr);
ASSERT_TRUE(fac->getCapture() == frm1->getCaptureOf(sensor)); ASSERT_TRUE(fac->getCapture() == cap);
} }
TEST_F(ProcessorFixWingModelTest, keyFrameCallbackRepeated) TEST_F(ProcessorFixWingModelTest, keyFrameCallbackRepeated)
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