- ImuOdom model into class

- Route layer input array hard copy
- fix utils

src/Route.cpp

@@ -7,9 +7,15 @@ namespace tk { namespace dnn {
 
 Route::Route(Network *net, Layer **layers, int layers_n) : Layer(net) {
 
-    this->layers = layers;
+    // copy input layers
+    if(layers_n > MAX_LAYERS) {
+        FatalError("ROUTE: reached max number of input layers");
+    }
+    for(int i=0; i<layers_n; i++) {
+        this->layers[i] = layers[i];
+    }
     this->layers_n = layers_n;
-
+    
     //get dims
     output_dim.l = 1;
     output_dim.c = 0;

src/utils.cpp

@@ -53,8 +53,9 @@ void printDeviceVector(int size, dnnType* vec_d, bool device)
     dnnType *vec;
     if(device) {
         vec = new dnnType[size];
-        cudaDeviceSynchronize();
-        cudaMemcpy(vec, vec_d, size*sizeof(dnnType), cudaMemcpyDeviceToHost);
+        checkCuda(cudaDeviceSynchronize());
+        checkCuda(cudaMemcpy(vec, vec_d, size*sizeof(dnnType), cudaMemcpyDeviceToHost));
+        checkCuda(cudaDeviceSynchronize());
     } else {
         vec = vec_d;
     }
@@ -76,10 +77,11 @@ int checkResult(int size, dnnType *data_d, dnnType *correct_d, bool device, int
     if(device) {
         data_h = new dnnType[size];
         correct_h = new dnnType[size];
-        cudaDeviceSynchronize();
-        cudaMemcpy(data_h, data_d, size*sizeof(dnnType), cudaMemcpyDeviceToHost);
-        cudaMemcpy(correct_h, correct_d, size*sizeof(dnnType), cudaMemcpyDeviceToHost);
-    
+        checkCuda(cudaDeviceSynchronize());
+        checkCuda(cudaMemcpy(data_h, data_d, size*sizeof(dnnType), cudaMemcpyDeviceToHost));
+        checkCuda(cudaMemcpy(correct_h, correct_d, size*sizeof(dnnType), cudaMemcpyDeviceToHost));
+        checkCuda(cudaDeviceSynchronize());
+
     } else {
         data_h = data_d;
         correct_h = correct_d;