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Typos

release/4.3a0
dellaert 2016-01-28 01:14:04 -08:00
parent ad01b73eba
commit 0470c318a4
2 changed files with 3 additions and 3 deletions
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2
gtsam/navigation/tests/testCombinedImuFactor.cpp
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@ -280,7 +280,7 @@ TEST(CombinedImuFactor, PredictRotation) {
Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2; Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
Vector3 v(0, 0, 0), v2; Vector3 v(0, 0, 0), v2;
NavState actual = pim.predict(NavState(x, v), bias); NavState actual = pim.predict(NavState(x, v), bias);
Pose3 expectedPose(Rot3().ypr(M_PI / 10, 0, 0), Point3(0, 0, 0)); Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
EXPECT(assert_equal(expectedPose, actual.pose(), tol)); EXPECT(assert_equal(expectedPose, actual.pose(), tol));
} }

4
gtsam/navigation/tests/testImuFactor.cpp
View File

@ -684,7 +684,7 @@ TEST(ImuFactor, PredictRotation) {
// Predict // Predict
NavState actual = pim.predict(NavState(), bias); NavState actual = pim.predict(NavState(), bias);
NavState expected(Rot3().ypr(M_PI / 10, 0, 0), Point3(), Vector3::Zero()); NavState expected(Rot3::Ypr(M_PI / 10, 0, 0), Point3(), Vector3::Zero());
EXPECT(assert_equal(expected, actual)); EXPECT(assert_equal(expected, actual));
} }
@ -768,7 +768,7 @@ TEST(ImuFactor, bodyPSensorNoBias) {
// Predict // Predict
NavState actual = pim.predict(NavState(), bias); NavState actual = pim.predict(NavState(), bias);
Pose3 expectedPose(Rot3().ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0)); Pose3 expectedPose(Rot3::Ypr(-M_PI / 10, 0, 0), Point3(0, 0, 0));
EXPECT(assert_equal(expectedPose, actual.pose())); EXPECT(assert_equal(expectedPose, actual.pose()));
Vector3 expectedVelocity(0, 0, 0); Vector3 expectedVelocity(0, 0, 0);