From c36d401fdeff54aa80fe4ee72aa54be835efca7d Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 15 Nov 2017 11:47:30 +0100
Subject: [PATCH] [WIP] start gtest with odom and iMU
---
src/test/gtest_IMU.cpp | 24 +++++++++++++++++++++---
1 file changed, 21 insertions(+), 3 deletions(-)
diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp
index 405aaad9e..536b9e249 100644
--- a/src/test/gtest_IMU.cpp
+++ b/src/test/gtest_IMU.cpp
@@ -9,7 +9,8 @@
#include "wolf.h"
#include "sensor_imu.h"
#include "processor_imu.h"
-//#include "processor_odom_3D.h"
+#include "sensor_odom_3D.h"
+#include "processor_odom_3D.h"
#include "ceres_wrapper/ceres_manager.h"
#include "utils_gtest.h"
@@ -63,7 +64,7 @@ class Process_Constraint_IMU : public testing::Test
VectorXs D_preint, x1_preint; // preintegrated with processor_imu
VectorXs D_corrected, x1_corrected; // corrected with processor_imu
VectorXs D_optim, x1_optim; // optimized using constraint_imu
- VectorXs D_optim_imu, x1_optim_imu; // corrected with imu_tools osing optimized bias
+ VectorXs D_optim_imu, x1_optim_imu; // corrected with imu_tools using optimized bias
VectorXs x0_optim; // optimized using constraint_imu
// Delta correction Jacobian and step
@@ -382,6 +383,23 @@ class Process_Constraint_IMU : public testing::Test
};
+class Process_Constraint_IMU_ODO : public Process_Constraint_IMU
+{
+ public:
+ // Wolf objects
+ SensorOdom3DPtr sensor_odo;
+ ProcessorOdom3DPtr processor_odo;
+
+ virtual void SetUp( )
+ {
+ Process_Constraint_IMU::SetUp();
+
+// SensorBasePtr sensor = problem->installSensor("ODOM 3D", "Odometer", (Vector7s()<<0,0,0,0,0,0,1).finished(),_WOLF_ROOT_DIR+"/src/examples/sensor_odom_3D.yaml");
+// ProcessorBasePtr processor = problem->installProcessor("ODOM 3D", "Odometer", "Odometer", _WOLF_ROOT_DIR+"/src/examples/processor_odom_3D.yaml");
+ }
+
+};
+
TEST_F(Process_Constraint_IMU, Var_B1_B2_Invar_P1_Q1_V1_P2_Q2_V2)
{
@@ -430,7 +448,7 @@ TEST_F(Process_Constraint_IMU, Var_B1_B2_Invar_P1_Q1_V1_P2_Q2_V2)
// ===================================== PRINT RESULTS
- // print();
+ print();
// ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES)
--
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