Rename test_pim to actualPim
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				|  | @ -129,22 +129,22 @@ TEST( AHRSFactor, PreintegratedAhrsMeasurementsConstructor ) { | |||
|   double deltaTij = 0.02; | ||||
|   Matrix3 delRdelBiasOmega = Matrix3::Ones()*0.5; | ||||
|   Matrix3 preintMeasCov = Matrix3::Ones()*0.2; | ||||
|   gtsam::PreintegratedAhrsMeasurements test_pim( | ||||
|     boost::make_shared<gtsam::PreintegratedRotationParams>(params), | ||||
|   PreintegratedAhrsMeasurements actualPim( | ||||
|     boost::make_shared<PreintegratedRotationParams>(params), | ||||
|     bias, | ||||
|     deltaTij, | ||||
|     deltaRij, | ||||
|     delRdelBiasOmega, | ||||
|     preintMeasCov); | ||||
|   EXPECT(assert_equal(gyroscopeCovariance, | ||||
|       test_pim.p().getGyroscopeCovariance(), 1e-6)); | ||||
|       actualPim.p().getGyroscopeCovariance(), 1e-6)); | ||||
|   EXPECT(assert_equal(omegaCoriolis, | ||||
|       test_pim.p().getOmegaCoriolis().get(), 1e-6)); | ||||
|   EXPECT(assert_equal(bias, test_pim.biasHat(), 1e-6)); | ||||
|   DOUBLES_EQUAL(deltaTij, test_pim.deltaTij(), 1e-6); | ||||
|   EXPECT(assert_equal(deltaRij, Rot3(test_pim.deltaRij()), 1e-6)); | ||||
|   EXPECT(assert_equal(delRdelBiasOmega, test_pim.delRdelBiasOmega(), 1e-6)); | ||||
|   EXPECT(assert_equal(preintMeasCov, test_pim.preintMeasCov(), 1e-6)); | ||||
|       actualPim.p().getOmegaCoriolis().get(), 1e-6)); | ||||
|   EXPECT(assert_equal(bias, actualPim.biasHat(), 1e-6)); | ||||
|   DOUBLES_EQUAL(deltaTij, actualPim.deltaTij(), 1e-6); | ||||
|   EXPECT(assert_equal(deltaRij, Rot3(actualPim.deltaRij()), 1e-6)); | ||||
|   EXPECT(assert_equal(delRdelBiasOmega, actualPim.delRdelBiasOmega(), 1e-6)); | ||||
|   EXPECT(assert_equal(preintMeasCov, actualPim.preintMeasCov(), 1e-6)); | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
|  |  | |||
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