From cf4508e90a40c0a858e5336317fc0cd2fb18e405 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 8 Mar 2018 08:34:35 +0100
Subject: [PATCH] Callback is issued at Problem level
---
src/test/gtest_IMU.cpp | 11 ++++-------
1 file changed, 4 insertions(+), 7 deletions(-)
diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp
index ea51761bb..5c5f48204 100644
--- a/src/test/gtest_IMU.cpp
+++ b/src/test/gtest_IMU.cpp
@@ -503,11 +503,9 @@ class Process_Constraint_IMU : public testing::Test
FrameBasePtr KF = problem->emplaceFrame(KEY_FRAME, x1_exact, t);
// ===================================== IMU CALLBACK
- processor_imu->keyFrameCallback(KF, dt/2);
-
-
-
+ problem->keyFrameCallback(KF, nullptr, dt/2);
+ // Process IMU for the callback to take effect
data = Vector6s::Zero();
capture_imu = make_shared<CaptureIMU>(t+dt, sensor_imu, data, sensor_imu->getNoiseCov());
processor_imu->process(capture_imu);
@@ -685,8 +683,7 @@ class Process_Constraint_IMU_ODO : public Process_Constraint_IMU
Process_Constraint_IMU::buildProblem();
// ===================================== ODO
- processor_odo->keyFrameCallback(KF_1, 0.1);
-
+ // Process ODO for the callback to take effect
data = Vector6s::Zero();
capture_odo = make_shared<CaptureOdom3D>(t+dt, sensor_odo, data, sensor_odo->getNoiseCov());
processor_odo->process(capture_odo);
@@ -1540,7 +1537,7 @@ int main(int argc, char **argv)
testing::InitGoogleTest(&argc, argv);
// ::testing::GTEST_FLAG(filter) = "Process_Constraint_IMU.*";
// ::testing::GTEST_FLAG(filter) = "Process_Constraint_IMU_ODO.*";
- // ::testing::GTEST_FLAG(filter) = "Process_Constraint_IMU_ODO.RecoverTrajectory_MotionRandom_PqV_b__pqV_b";
+ ::testing::GTEST_FLAG(filter) = "Process_Constraint_IMU_ODO.RecoverTrajectory_MotionRandom_PqV_b__pqV_b";
return RUN_ALL_TESTS();
}
--
GitLab