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

Test fails with incorrect imuBias operator-.

release/4.3a0
krunalchande 2015-03-10 18:16:45 -04:00
parent 2edd7451af
commit 3750362b49
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/navigation/tests/testCombinedImuFactor.cpp
View File

@ -270,13 +270,13 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements )
/* ************************************************************************* */
TEST(CombinedImuFactor, PredictPositionAndVelocity){
imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
imuBias::ConstantBias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot)
// Measurements
Vector3 gravity; gravity << 0, 0, 9.81;
Vector3 omegaCoriolis; omegaCoriolis << 0, 0, 0;
Vector3 measuredOmega; measuredOmega << 0, 0, 0;//M_PI/10.0+0.3;
Vector3 measuredAcc; measuredAcc << 0,1,-9.81;
Vector3 measuredOmega; measuredOmega << 0, 0.1, 0;//M_PI/10.0+0.3;
Vector3 measuredAcc; measuredAcc << 0,1.1,-9.81;
double deltaT = 0.001;
Matrix I6x6(6,6);