From db3a735ff63e454c58b9098ee2b371e1cc526ac8 Mon Sep 17 00:00:00 2001
From: Jeremie Deray <jeremie.deray@pal-robotics.com>
Date: Thu, 24 May 2018 16:52:26 +0200
Subject: [PATCH] fix gtest_constraint_autodiff compile
---
src/test/gtest_constraint_autodiff.cpp | 27 +++++++++++++++++++++++---
1 file changed, 24 insertions(+), 3 deletions(-)
diff --git a/src/test/gtest_constraint_autodiff.cpp b/src/test/gtest_constraint_autodiff.cpp
index 52b5d1c12..c5820537f 100644
--- a/src/test/gtest_constraint_autodiff.cpp
+++ b/src/test/gtest_constraint_autodiff.cpp
@@ -74,7 +74,14 @@ TEST(CaptureAutodiff, ResidualOdom2d)
fr1_ptr->addConstrainedBy(constraint_ptr);
// EVALUATE
- std::vector<Scalar*> states_ptr({fr1_ptr->getPPtr()->getPtr(), fr1_ptr->getOPtr()->getPtr(), fr2_ptr->getPPtr()->getPtr(), fr2_ptr->getOPtr()->getPtr()});
+
+ Eigen::VectorXs fr1_pstate = fr1_ptr->getPPtr()->getState();
+ Eigen::VectorXs fr1_ostate = fr1_ptr->getOPtr()->getState();
+ Eigen::VectorXs fr2_pstate = fr2_ptr->getPPtr()->getState();
+ Eigen::VectorXs fr2_ostate = fr2_ptr->getOPtr()->getState();
+
+ std::vector<Scalar*> states_ptr({fr1_pstate.data(), fr1_ostate.data(), fr2_pstate.data(), fr2_ostate.data()});
+
double const* const* parameters = states_ptr.data();
Eigen::VectorXs residuals(constraint_ptr->getSize());
constraint_ptr->evaluate(parameters, residuals.data(), nullptr);
@@ -111,7 +118,14 @@ TEST(CaptureAutodiff, JacobianOdom2d)
fr1_ptr->addConstrainedBy(constraint_ptr);
// COMPUTE JACOBIANS
- std::vector<const Scalar*> states_ptr({fr1_ptr->getPPtr()->getPtr(), fr1_ptr->getOPtr()->getPtr(), fr2_ptr->getPPtr()->getPtr(), fr2_ptr->getOPtr()->getPtr()});
+
+ const Eigen::VectorXs fr1_pstate = fr1_ptr->getPPtr()->getState();
+ const Eigen::VectorXs fr1_ostate = fr1_ptr->getOPtr()->getState();
+ const Eigen::VectorXs fr2_pstate = fr2_ptr->getPPtr()->getState();
+ const Eigen::VectorXs fr2_ostate = fr2_ptr->getOPtr()->getState();
+
+ std::vector<const Scalar*> states_ptr({fr1_pstate.data(), fr1_ostate.data(), fr2_pstate.data(), fr2_ostate.data()});
+
std::vector<Eigen::MatrixXs> Jauto;
Eigen::VectorXs residuals(constraint_ptr->getSize());
constraint_ptr->evaluate(states_ptr, residuals, Jauto);
@@ -186,7 +200,14 @@ TEST(CaptureAutodiff, AutodiffVsAnalytic)
fr1_ptr->addConstrainedBy(ctr_analytic_ptr);
// COMPUTE JACOBIANS
- std::vector<const Scalar*> states_ptr({fr1_ptr->getPPtr()->getPtr(), fr1_ptr->getOPtr()->getPtr(), fr2_ptr->getPPtr()->getPtr(), fr2_ptr->getOPtr()->getPtr()});
+
+ const Eigen::VectorXs fr1_pstate = fr1_ptr->getPPtr()->getState();
+ const Eigen::VectorXs fr1_ostate = fr1_ptr->getOPtr()->getState();
+ const Eigen::VectorXs fr2_pstate = fr2_ptr->getPPtr()->getState();
+ const Eigen::VectorXs fr2_ostate = fr2_ptr->getOPtr()->getState();
+
+ std::vector<const Scalar*> states_ptr({fr1_pstate.data(), fr1_ostate.data(), fr2_pstate.data(), fr2_ostate.data()});
+
std::vector<Eigen::MatrixXs> Jautodiff, Janalytic;
Eigen::VectorXs residuals(ctr_autodiff_ptr->getSize());
clock_t t = clock();
--
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