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use shared pointer

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kamilritz
2019-12-16 09:04:35 +01:00
committed by Mathieu Bresciani
parent 00cd720a66
commit f13f2f8452
14 changed files with 78 additions and 49 deletions
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test/test_EKF_basics.cpp
+4 -4
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@@ -33,14 +33,15 @@
#include <gtest/gtest.h>
#include <math.h>
#include <memory>
#include "EKF/ekf.h"
#include "SensorSimulator/SensorSimulator.h"
#include "sensor_simulator/sensor_simulator.h"
class EkfInitializationTest : public ::testing::Test {
public:
Ekf* _ekf;
std::shared_ptr<Ekf> _ekf;
SensorSimulator* _sensor_simulator;
// Duration of initalization with only providing baro,mag and IMU
@@ -49,7 +50,7 @@ class EkfInitializationTest : public ::testing::Test {
// Setup the Ekf with synthetic measurements
void SetUp() override
{
_ekf = new Ekf();
_ekf = std::make_shared<Ekf>();
_ekf->init(0);
_sensor_simulator = new SensorSimulator(_ekf);
@@ -60,7 +61,6 @@ class EkfInitializationTest : public ::testing::Test {
void TearDown() override
{
delete _sensor_simulator;
delete _ekf;
}
};