12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #7 from chrisbeall/fix/build-no-deprecated 

Fix build for GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
release/4.3a0
Chris Beall 2019-05-18 21:59:44 -07:00 committed by GitHub
parent 690b2b8aed bd18fac539
commit 20f29fba0c
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/navigation/tests/testImuFactor.cpp
View File

@ -106,7 +106,7 @@ TEST(ImuFactor, Accelerating) {
Vector3(a, 0, 0)); Vector3(a, 0, 0));
const double T = 3.0; // seconds const double T = 3.0; // seconds
ScenarioRunner runner(&scenario, testing::Params(), T / 10); ScenarioRunner runner(scenario, testing::Params(), T / 10);
PreintegratedImuMeasurements pim = runner.integrate(T); PreintegratedImuMeasurements pim = runner.integrate(T);
EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
@ -494,7 +494,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
Bias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); Bias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0));
const double T = 3.0; // seconds const double T = 3.0; // seconds
ScenarioRunner runner(&scenario, p, T / 10); ScenarioRunner runner(scenario, p, T / 10);
// PreintegratedImuMeasurements pim = runner.integrate(T); // PreintegratedImuMeasurements pim = runner.integrate(T);
// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9));
@ -630,7 +630,7 @@ TEST(ImuFactor, PredictArbitrary) {
Vector3(0.1, 0.2, 0), Vector3(M_PI / 10, M_PI / 10, M_PI / 10)); Vector3(0.1, 0.2, 0), Vector3(M_PI / 10, M_PI / 10, M_PI / 10));
const double T = 3.0; // seconds const double T = 3.0; // seconds
ScenarioRunner runner(&scenario, testing::Params(), T / 10); ScenarioRunner runner(scenario, testing::Params(), T / 10);
// //
// PreintegratedImuMeasurements pim = runner.integrate(T); // PreintegratedImuMeasurements pim = runner.integrate(T);
// EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9)); // EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose, 1e-9));
@ -827,7 +827,7 @@ struct ImuFactorMergeTest {
PreintegratedImuMeasurements pim02_expected(p_, bias01); PreintegratedImuMeasurements pim02_expected(p_, bias01);
double deltaT = 0.01; double deltaT = 0.01;
ScenarioRunner runner(&scenario, p_, deltaT); ScenarioRunner runner(scenario, p_, deltaT);
// TODO(frank) can this loop just go into runner ? // TODO(frank) can this loop just go into runner ?
for (int i = 0; i < 100; i++) { for (int i = 0; i < 100; i++) {
double t = i * deltaT; double t = i * deltaT;