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Rename test_pim to actualPim

release/4.3a0
Toni 2019-07-30 11:44:58 -04:00
parent 162c9ab472
commit 3e83f00788
1 changed files with 9 additions and 9 deletions
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18
gtsam/navigation/tests/testAHRSFactor.cpp
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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));
}
/* ************************************************************************* */