From e5ed7915339a565c302a283a1203176b309b30f4 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 6 Mar 2018 15:51:40 +0100
Subject: [PATCH] WIP call process() so that the callback takes effect
---
src/test/gtest_IMU.cpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp
index ab6d914c1..d71713561 100644
--- a/src/test/gtest_IMU.cpp
+++ b/src/test/gtest_IMU.cpp
@@ -376,6 +376,13 @@ class Process_Constraint_IMU : public testing::Test
// ===================================== IMU CALLBACK
processor_imu->keyFrameCallback(KF, 0.01);
+
+
+
+ data = Vector6s::Zero();
+ capture_imu = make_shared<CaptureIMU>(t+dt, sensor_imu, data, sensor_imu->getNoiseCov());
+ processor_imu->process(capture_imu);
+
KF_1 = problem->getLastKeyFramePtr();
C_1 = KF_1->getCaptureList().front(); // front is IMU
CM_1 = static_pointer_cast<CaptureMotion>(C_1);
--
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