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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
dd3f387f
"README.md" did not exist on "c78bf770559d7155f2c0bc4cb09eb8159e61d4b6"
Commit
dd3f387f
authored
4 years ago
by
Joan Vallvé Navarro
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hotfix
parent
e43901b0
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Pipeline
#6462
passed
4 years ago
Stage: build
Changes
2
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1
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2 changed files
src/processor/processor_motion.cpp
+1
-2
1 addition, 2 deletions
src/processor/processor_motion.cpp
test/gtest_processor_motion.cpp
+1
-1
1 addition, 1 deletion
test/gtest_processor_motion.cpp
with
2 additions
and
3 deletions
src/processor/processor_motion.cpp
+
1
−
2
View file @
dd3f387f
...
...
@@ -60,7 +60,6 @@ void ProcessorMotion::mergeCaptures(CaptureMotionConstPtr cap_prev,
{
assert
(
cap_prev
!=
nullptr
);
assert
(
cap_target
!=
nullptr
);
assert
(
cap_target
->
getOriginCapture
()
!=
nullptr
);
assert
(
cap_prev
==
cap_target
->
getOriginCapture
()
&&
"merging not consecutive capture motions"
);
// add prev buffer (discarding the first zero motion)
...
...
@@ -88,7 +87,7 @@ void ProcessorMotion::mergeCaptures(CaptureMotionConstPtr cap_prev,
}
// emplace new feature and factor (if origin has frame)
if
(
cap_prev
->
getOriginCapture
()
->
getFrame
())
if
(
cap_prev
->
getOriginCapture
()
and
cap_prev
->
getOriginCapture
()
->
getFrame
())
{
auto
new_feature
=
emplaceFeature
(
cap_target
);
emplaceFactor
(
new_feature
,
cap_prev
->
getOriginCapture
());
...
...
This diff is collapsed.
Click to expand it.
test/gtest_processor_motion.cpp
+
1
−
1
View file @
dd3f387f
...
...
@@ -315,7 +315,7 @@ TEST_F(ProcessorMotion_test, mergeCaptures)
FrameBasePtr
F_target
=
problem
->
emplaceFrame
(
t_target
);
CaptureMotionPtr
C_source
=
std
::
dynamic_pointer_cast
<
CaptureMotion
>
(
processor
->
getLast
());
CaptureMotionPtr
C_target
=
CaptureBase
::
emplace
<
CaptureMotion
>
(
F_target
,
"
ODOM
2d"
,
"
CaptureOdom
2d"
,
t_target
,
sensor
,
data
,
...
...
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