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Commit db3a735f authored by Jeremie Deray's avatar Jeremie Deray
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fix gtest_constraint_autodiff compile

parent 4cdfd364
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...@@ -74,7 +74,14 @@ TEST(CaptureAutodiff, ResidualOdom2d) ...@@ -74,7 +74,14 @@ TEST(CaptureAutodiff, ResidualOdom2d)
fr1_ptr->addConstrainedBy(constraint_ptr); fr1_ptr->addConstrainedBy(constraint_ptr);
// EVALUATE // 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(); double const* const* parameters = states_ptr.data();
Eigen::VectorXs residuals(constraint_ptr->getSize()); Eigen::VectorXs residuals(constraint_ptr->getSize());
constraint_ptr->evaluate(parameters, residuals.data(), nullptr); constraint_ptr->evaluate(parameters, residuals.data(), nullptr);
...@@ -111,7 +118,14 @@ TEST(CaptureAutodiff, JacobianOdom2d) ...@@ -111,7 +118,14 @@ TEST(CaptureAutodiff, JacobianOdom2d)
fr1_ptr->addConstrainedBy(constraint_ptr); fr1_ptr->addConstrainedBy(constraint_ptr);
// COMPUTE JACOBIANS // 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; std::vector<Eigen::MatrixXs> Jauto;
Eigen::VectorXs residuals(constraint_ptr->getSize()); Eigen::VectorXs residuals(constraint_ptr->getSize());
constraint_ptr->evaluate(states_ptr, residuals, Jauto); constraint_ptr->evaluate(states_ptr, residuals, Jauto);
...@@ -186,7 +200,14 @@ TEST(CaptureAutodiff, AutodiffVsAnalytic) ...@@ -186,7 +200,14 @@ TEST(CaptureAutodiff, AutodiffVsAnalytic)
fr1_ptr->addConstrainedBy(ctr_analytic_ptr); fr1_ptr->addConstrainedBy(ctr_analytic_ptr);
// COMPUTE JACOBIANS // 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; std::vector<Eigen::MatrixXs> Jautodiff, Janalytic;
Eigen::VectorXs residuals(ctr_autodiff_ptr->getSize()); Eigen::VectorXs residuals(ctr_autodiff_ptr->getSize());
clock_t t = clock(); clock_t t = clock();
......
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