fix tests -> change solver_manager

src/examples/test_imuDock.cpp

@@ -240,8 +240,8 @@ int main(int argc, char** argv)
 
     // ___Solve + compute covariances___
     problem->print(4,0,1,0);
-    std::string report = ceres_manager->solve(1); // 0: nothing, 1: BriefReport, 2: FullReport
-    ceres_manager->computeCovariances(ALL_MARGINALS);
+    std::string report = ceres_manager->solve(SolverManager::ReportVerbosity::BRIEF); // 0: nothing, 1: BriefReport, 2: FullReport
+    ceres_manager->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
     problem->print(1,0,1,0);
 
     //#################################################### RESULTS PART

src/examples/test_imuDock_autoKFs.cpp

@@ -249,8 +249,8 @@ int main(int argc, char** argv)
 
     // ___Solve + compute covariances___
     problem->print(4,0,1,0);
-    std::string report = ceres_manager->solve(1);// 0: nothing, 1: BriefReport, 2: FullReport
-    ceres_manager->computeCovariances(ALL_MARGINALS);
+    std::string report = ceres_manager->solve(SolverManager::ReportVerbosity::BRIEF);
+    ceres_manager->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
     problem->print(1,0,1,0);
 
     //#################################################### RESULTS PART

src/examples/test_imuPlateform_Offline.cpp

@@ -201,9 +201,9 @@ int main(int argc, char** argv)
     origin_KF->getVPtr()->fix();
     
     std::cout << "\t\t\t ______solving______" << std::endl;
-    std::string report = ceres_manager_wolf_diff->solve(2);// 0: nothing, 1: BriefReport, 2: FullReport
+    std::string report = ceres_manager_wolf_diff->solve(SolverManager::ReportVerbosity::FULL);// 0: nothing, 1: BriefReport, 2: FullReport
     std::cout << report << std::endl;
-    ceres_manager_wolf_diff->computeCovariances(ALL);
+    ceres_manager_wolf_diff->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL);
     std::cout << "\t\t\t ______solved______" << std::endl;
 
     wolf_problem_ptr_->print(4,1,1,1);

src/examples/test_imu_constrained0.cpp

@@ -259,16 +259,16 @@ int main(int argc, char** argv)
 
     
     std::cout << "\t\t\t ______solving______" << std::endl;
-    std::string report = ceres_manager_wolf_diff->solve(2); //0: nothing, 1: BriefReport, 2: FullReport
+    std::string report = ceres_manager_wolf_diff->solve(SolverManager::ReportVerbosity::FULL); //0: nothing, 1: BriefReport, 2: FullReport
     std::cout << report << std::endl;
 
     last_KF->getAccBiasPtr()->fix();
     last_KF->getGyroBiasPtr()->fix();
 
     std::cout << "\t\t\t solving after fixBias" << std::endl;
-    report = ceres_manager_wolf_diff->solve(1); //0: nothing, 1: BriefReport, 2: FullReport
+    report = ceres_manager_wolf_diff->solve(SolverManager::ReportVerbosity::BRIEF); //0: nothing, 1: BriefReport, 2: FullReport
     std::cout << report << std::endl;
-    ceres_manager_wolf_diff->computeCovariances(ALL);
+    ceres_manager_wolf_diff->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL);
     std::cout << "\t\t\t ______solved______" << std::endl;
 
     wolf_problem_ptr_->print(4,1,1,1);

src/examples/test_processor_odom_3D.cpp

@@ -89,7 +89,7 @@ int main (int argc, char** argv)
 //        frm->setState(problem->zeroState());
 //    }
 //    problem->print(1,0,1,0);
-    std::string brief_report = ceres_manager.solve(1);// 0, 1 or 2
+    std::string brief_report = ceres_manager.solve(SolverManager::ReportVerbosity::FULL);
     std::cout << brief_report << std::endl;
     problem->print(1,0,1,0);
 

src/examples/test_sparsification.cpp

@@ -291,11 +291,11 @@ int main(int argc, char** argv)
 
 			// SOLVE
 			// solution
-			bl_summary = bl_ceres_manager->solve(1);
+      bl_summary = bl_ceres_manager->solve(SolverManager::ReportVerbosity::FULL);
 		    std::cout << bl_summary << std::endl;
 
 			// covariance
-		    bl_ceres_manager->computeCovariances(ALL);//ALL_MARGINALS
+        bl_ceres_manager->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL);//ALL_MARGINALS
 
 
 	//		t1 = clock();

src/test/gtest_constraint_fix.cpp

@@ -59,7 +59,7 @@ TEST(ConstraintFix, solve)
     frm0->setState(x0);
 
     // solve for frm0
-    std::string report = ceres_mgr.solve(0); // 0: nothing, 1: BriefReport, 2: FullReport
+    std::string report = ceres_mgr.solve(SolverManager::ReportVerbosity::QUIET); // 0: nothing, 1: BriefReport, 2: FullReport
 
     ASSERT_MATRIX_APPROX(frm0->getState(), pose, 1e-6);
 

src/test/gtest_constraint_fix_3D.cpp

@@ -67,7 +67,7 @@ TEST(ConstraintFix3D, solve)
     frm0->setState(x0);
 
     // solve for frm0
-    std::string brief_report = ceres_mgr.solve(1);
+    std::string brief_report = ceres_mgr.solve(SolverManager::ReportVerbosity::FULL);
 
     ASSERT_MATRIX_APPROX(frm0->getState(), pose7, 1e-6);
 

src/test/gtest_constraint_odom_3D.cpp

@@ -69,7 +69,7 @@ TEST(ConstraintOdom3D, fix_0_solve)
     frm1->setState(x1);
 
     // solve for frm1
-    std::string report = ceres_mgr.solve(1);
+    std::string report = ceres_mgr.solve(SolverManager::ReportVerbosity::BRIEF);
 
     ASSERT_MATRIX_APPROX(frm1->getState(), delta, 1e-6);
 
@@ -83,7 +83,7 @@ TEST(ConstraintOdom3D, fix_1_solve)
     frm0->setState(x0);
 
     // solve for frm0
-    std::string brief_report = ceres_mgr.solve(1);
+    std::string brief_report = ceres_mgr.solve(SolverManager::ReportVerbosity::BRIEF);
 
     ASSERT_MATRIX_APPROX(frm0->getState(), problem->zeroState(), 1e-6);
 }

src/test/gtest_odom_2D.cpp

@@ -153,10 +153,10 @@ TEST(Odom2D, ConstraintFix_and_ConstraintOdom2D)
     F0->setState(Vector3s(1,2,3));
     F1->setState(Vector3s(2,3,1));
     F2->setState(Vector3s(3,1,2));
-    std::string report = ceres_manager.solve(1);
+    std::string report = ceres_manager.solve(SolverManager::ReportVerbosity::FULL);
 //    std::cout << report << std::endl;
 
-    ceres_manager.computeCovariances(ALL_MARGINALS);
+    ceres_manager.computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
 //    show(Pr);
 
     Matrix3s P1, P2;
@@ -211,8 +211,8 @@ TEST(Odom2D, VoteForKfAndSolve)
 
     // Origin Key Frame
     FrameBasePtr origin_frame = problem->setPrior(x0, P0, t0);
-    ceres_manager.solve(0);
-    ceres_manager.computeCovariances(ALL_MARGINALS);
+    ceres_manager.solve(SolverManager::ReportVerbosity::BRIEF);
+    ceres_manager.computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
 
     //    std::cout << "Initial pose : " << problem->getCurrentState().transpose() << std::endl;
     //    std::cout << "Initial covariance : " << std::endl << problem->getLastKeyFrameCovariance() << std::endl;
@@ -280,9 +280,9 @@ TEST(Odom2D, VoteForKfAndSolve)
     }
 
     // Solve
-    std::string report = ceres_manager.solve(1);
+    std::string report = ceres_manager.solve(SolverManager::ReportVerbosity::BRIEF);
 //    std::cout << report << std::endl;
-    ceres_manager.computeCovariances(ALL_MARGINALS);
+    ceres_manager.computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
 
     ASSERT_MATRIX_APPROX(problem->getLastKeyFrameCovariance() , integrated_cov_vector[5], 1e-6);
 }
@@ -398,9 +398,9 @@ TEST(Odom2D, KF_callback)
 
     MotionBuffer key_buffer_n = key_capture_n->getBuffer();
 
-    std::string report = ceres_manager.solve(1);
+    std::string report = ceres_manager.solve(SolverManager::ReportVerbosity::BRIEF);
 //    std::cout << report << std::endl;
-    ceres_manager.computeCovariances(ALL_MARGINALS);
+    ceres_manager.computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
 
     ASSERT_POSE2D_APPROX(problem->getLastKeyFramePtr()->getState() , integrated_pose_vector[n_split], 1e-6);
     ASSERT_MATRIX_APPROX(problem->getLastKeyFrameCovariance()       , integrated_cov_vector [n_split], 1e-6);
@@ -429,9 +429,9 @@ TEST(Odom2D, KF_callback)
     keyframe_1->setState(Vector3s(2,3,1));
     keyframe_2->setState(Vector3s(3,1,2));
 
-    report = ceres_manager.solve(1);
+    report = ceres_manager.solve(SolverManager::ReportVerbosity::BRIEF);
 //    std::cout << report << std::endl;
-    ceres_manager.computeCovariances(ALL_MARGINALS);
+    ceres_manager.computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
 //    show(problem);
 
     // check the split KF