diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt index f1a99cb73e037f88df21ef41bb8041c3df72cecf..ac5904064d8001026bfcac33d4a33ecd1e35686e 100644 --- a/src/test/CMakeLists.txt +++ b/src/test/CMakeLists.txt @@ -45,6 +45,10 @@ target_link_libraries(gtest_example ${PROJECT_NAME}) # # ==== IN ALPHABETICAL ORDER! ==== # # # +# Constraint_odom_3D classes test +wolf_add_gtest(gtest_constraint_odom_3D gtest_constraint_odom_3D.cpp) +target_link_libraries(gtest_constraint_odom_3D ${PROJECT_NAME}) + # FrameBase classes test wolf_add_gtest(gtest_frame_base gtest_frame_base.cpp) target_link_libraries(gtest_frame_base ${PROJECT_NAME}) diff --git a/src/test/gtest_constraint_odom_3D.cpp b/src/test/gtest_constraint_odom_3D.cpp index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..49e140de7f95b7ca87fae6e28e0f6706c11d2a03 100644 --- a/src/test/gtest_constraint_odom_3D.cpp +++ b/src/test/gtest_constraint_odom_3D.cpp @@ -0,0 +1,49 @@ +/** + * \file gtest_constraint_odom_3D.cpp + * + * Created on: Jan 06, 2016 + * \author: Dinesh + */ + +#include "wolf.h" +#include "problem.h" +#include "sensor_odom_3D.h" +#include "capture_motion.h" +#include "state_block.h" +#include "state_quaternion.h" +#include "processor_odom_3D.h" + +#include "utils_gtest.h" +#include "../src/logging.h" + +TEST(ConstraintOdom3D, constructors) +{ + using namespace wolf; + using std::shared_ptr; + using std::make_shared; + using std::static_pointer_cast; + + // Wolf problem + wolf::ProblemPtr wolf_problem_ptr_ = Problem::create(FRM_PQVBB_3D); + Eigen::VectorXs IMU_extrinsics(7); + + wolf::TimeStamp ts; + Eigen::VectorXs state_vec; + Eigen::VectorXs delta_preint; + Eigen::Vector6s data_; + + state_vec.resize(16); + ts.set(0); + + Eigen::VectorXs x0(16); + x0 << 0,0,0, 0,0,0,1, 0,0,0, 0,0,0, 0,0,0; // Try some non-zero biases + + //create a feature + FeatureBasePtr last_feature = std::make_shared<FeatureBase>("ODOM_3D", x0.head(7),Eigen::Matrix7s::Identity()); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file