added FIXMEs

src/feature_imu.cpp

@@ -4,8 +4,8 @@ namespace wolf {
 
 FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _delta_preintegrated_covariance) :
     FeatureBase("IMU", _delta_preintegrated, _delta_preintegrated_covariance),
-    dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3)),
-    acc_bias_preint_(_delta_preintegrated.segment<3>(10)), gyro_bias_preint_(_delta_preintegrated.tail<3>())
+    dp_preint_(_delta_preintegrated.head<3>()),dv_preint_(_delta_preintegrated.segment<3>(7)), dq_preint_(_delta_preintegrated.segment<4>(3))
+    //acc_bias_preint_(_delta_preintegrated.segment<3>(10)), gyro_bias_preint_(_delta_preintegrated.tail<3>()) FIXME
 {
     //std::cout << "New FeatureIMU: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl;
 }

src/test/gtest_feature_imu.cpp

@@ -26,6 +26,7 @@ class FeatureIMU_test : public testing::Test
         std::shared_ptr<wolf::FeatureIMU> feat_imu;
         wolf::FrameIMUPtr last_frame;
         wolf::FrameBasePtr origin_frame;
+        Eigen::Matrix<wolf::Scalar,9,6> dD_db_jacobians;
 
     //a new of this will be created for each new test
     virtual void SetUp()
@@ -79,11 +80,14 @@ class FeatureIMU_test : public testing::Test
         state_vec = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentState();
    	    last_frame = std::make_shared<FrameIMU>(KEY_FRAME, ts, state_vec);
         wolf_problem_ptr_->getTrajectoryPtr()->addFrame(last_frame);
+        
 
     //create a feature
         delta_preint_cov = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentDeltaPreintCov();
         delta_preint = wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_;
         feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
+        //wolf_problem_ptr_->getProcessorMotionPtr()->getJacobians(dD_db_jacobians);            FIXME
+        //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, dD_db_jacobians);
         feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture
 
     }