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Fix Rot3 statics

release/4.3a0
dellaert 2016-01-28 09:53:03 -08:00
parent 47261290e9
commit 127cfdcfde
1 changed files with 3 additions and 3 deletions
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6
gtsam/navigation/tests/testImuFactor.cpp
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@ -747,7 +747,7 @@ TEST(ImuFactor, bodyPSensorNoBias) {
// Rotate sensor (z-down) to body (same as navigation) i.e. z-up
auto p = defaultParams();
p->n_gravity = Vector3(0, 0, -kGravity); // z-up nav frame
p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3(0, 0, 0));
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3(0, 0, 0));
// Measurements
// Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame
@ -802,7 +802,7 @@ TEST(ImuFactor, bodyPSensorWithBias) {
auto p = defaultParams();
p->n_gravity = Vector3(0, 0, -kGravity);
p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3());
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3());
p->accelerometerCovariance = 1e-7 * I_3x3;
p->gyroscopeCovariance = 1e-8 * I_3x3;
p->integrationCovariance = 1e-9 * I_3x3;
@ -885,7 +885,7 @@ TEST(ImuFactor, serialization) {
auto p = defaultParams();
p->n_gravity = Vector3(0, 0, -9.81);
p->body_P_sensor = Pose3(Rot3::ypr(0, 0, M_PI), Point3());
p->body_P_sensor = Pose3(Rot3::Ypr(0, 0, M_PI), Point3());
p->accelerometerCovariance = 1e-7 * I_3x3;
p->gyroscopeCovariance = 1e-8 * I_3x3;
p->integrationCovariance = 1e-9 * I_3x3;