Unit test corrections

TODO

@@ -8,21 +8,17 @@ Software Work:
     - Add extrinsic step disturbance
     - Add IMU bias instability
         - Plot Allan Variance
-    - Compute Cramer Rao Lower Bound
-        - https://iaac.technion.ac.il/workshops/2010/KFhandouts/LectKF24.pdf
-        - https://www.cs.cmu.edu/~aarti/Class/10704_Spring15/lecs/lec23.pdf
     - Outlier rejection by gating / Mahalanobis distance
     - Play rosbags through as fast as possible given yaml
     - RANSAC Features
-    - Calculate CR Lower Bound
 
     Additional Trackers:
         - AprilGridTracker
 
 Documentation:
     - Simulation diagram
     - Add gif to main readme
-    - Create Simulated Camera video feed
+    - Create Simulated Camera video feed 
         - Circles for points, radius based on distance
         - Polygon for Board edges
         - https://docs.opencv.org/4.6.0/d3/d96/tutorial_basic_geometric_drawing.html

eval/tab_body.py

@@ -615,8 +615,6 @@ def plot_body_ang_acc_cov(self):
                 legend_label='Z')
         return fig
 
-
-
     def plot_aug_pos(self):
         """Plot augmented state position."""
         fig = figure(width=800, height=300, x_axis_label='Time [s]',
@@ -697,7 +695,6 @@ def plot_aug_ang(self):
 
         return fig
 
-
     def get_tab(self):
         layout_plots = [
             [

src/sensors/sim/test/sim_gps_test.cpp

@@ -115,5 +115,4 @@ TEST(test_SimIMU, Constructor) {
   EXPECT_NEAR(enu_4[0], 3.058, 1e-3);
   EXPECT_NEAR(enu_4[1], 0.735, 1e-3);
   EXPECT_NEAR(enu_4[2], 0.027, 1e-3);
-
 }

src/sensors/test/camera_test.cpp

@@ -20,7 +20,11 @@
 #include "trackers/feature_tracker.hpp"
 
 TEST(test_feature_tracker, initialization) {
+  EKF::Parameters ekf_params;
+  ekf_params.debug_logger = std::make_shared<DebugLogger>(LogLevel::DEBUG, "");
+
   FeatureTracker::Parameters params;
+  params.ekf = std::make_shared<EKF>(ekf_params);
   params.camera_id = 1;
 
   params.detector = Detector::BRISK;

src/trackers/sim/test/sim_feature_tracker_test.cpp

@@ -21,6 +21,10 @@
 #include "trackers/sim/sim_feature_tracker.hpp"
 
 TEST(test_feature_tracker, constructor) {
+  EKF::Parameters ekf_params;
+  ekf_params.debug_logger = std::make_shared<DebugLogger>(LogLevel::DEBUG, "");
+
   FeatureTracker::Parameters params;
+  params.ekf = std::make_shared<EKF>(ekf_params);
   FeatureTracker feature_tracker(params);
 }

src/trackers/test/feature_tracker_test.cpp

@@ -23,7 +23,11 @@
 #include "sensors/camera.hpp"
 
 TEST(test_feature_tracker, initialization) {
+  EKF::Parameters ekf_params;
+  ekf_params.debug_logger = std::make_shared<DebugLogger>(LogLevel::DEBUG, "");
+
   FeatureTracker::Parameters params;
+  params.ekf = std::make_shared<EKF>(ekf_params);
   params.camera_id = 1;
 
   params.detector = Detector::BRISK;