From c8515eda67c9e01b9f3d4426e21abaf500943952 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 6 Feb 2019 14:26:42 +0100
Subject: [PATCH] minor changes
---
src/test/gtest_constraint_odom_3D.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/test/gtest_constraint_odom_3D.cpp b/src/test/gtest_constraint_odom_3D.cpp
index 684082775..17cb8e9e6 100644
--- a/src/test/gtest_constraint_odom_3D.cpp
+++ b/src/test/gtest_constraint_odom_3D.cpp
@@ -35,12 +35,12 @@ Vector7s x0 = data2delta(Vector6s::Random()*0.25);
Vector7s x1 = data2delta(data + Vector6s::Random()*0.25);
// Problem and solver
-ProblemPtr problem = Problem::create("PO 3D");
-CeresManager ceres_mgr(problem);
+ProblemPtr problem_ptr = Problem::create("PO 3D");
+CeresManager ceres_mgr(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem->emplaceFrame(KEY_FRAME, problem->zeroState(), TimeStamp(0));
-FrameBasePtr frm1 = problem->emplaceFrame(KEY_FRAME, delta, TimeStamp(1));
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(KEY_FRAME, problem_ptr->zeroState(), TimeStamp(0));
+FrameBasePtr frm1 = problem_ptr->emplaceFrame(KEY_FRAME, delta, TimeStamp(1));
// Capture, feature and constraint from frm1 to frm0
CaptureBasePtr cap1 = frm1->addCapture(std::make_shared<CaptureMotion>("ODOM 3D", 1, nullptr, delta, 7, 6, nullptr));
@@ -52,7 +52,7 @@ ConstraintBasePtr dummy = frm0->addConstrainedBy(ctr1);
TEST(ConstraintOdom3D, check_tree)
{
- ASSERT_TRUE(problem->check(0));
+ ASSERT_TRUE(problem_ptr->check(0));
}
TEST(ConstraintOdom3D, expectation)
@@ -85,7 +85,7 @@ TEST(ConstraintOdom3D, fix_1_solve)
// solve for frm0
std::string brief_report = ceres_mgr.solve(SolverManager::ReportVerbosity::BRIEF);
- ASSERT_MATRIX_APPROX(frm0->getState(), problem->zeroState(), 1e-6);
+ ASSERT_MATRIX_APPROX(frm0->getState(), problem_ptr->zeroState(), 1e-6);
}
int main(int argc, char **argv)
--
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