From 127cfdcfde441f2018f880f608b3dbda53468cca Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 28 Jan 2016 09:53:03 -0800 Subject: [PATCH] Fix Rot3 statics --- gtsam/navigation/tests/testImuFactor.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 7e24aff17..6f6cde59f 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -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;