From 3e83f00788d11faeeb929c36b9eeaa7b4b684683 Mon Sep 17 00:00:00 2001 From: Toni Date: Tue, 30 Jul 2019 11:44:58 -0400 Subject: [PATCH] Rename test_pim to actualPim --- gtsam/navigation/tests/testAHRSFactor.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/gtsam/navigation/tests/testAHRSFactor.cpp b/gtsam/navigation/tests/testAHRSFactor.cpp index c89019cff..d32553b94 100644 --- a/gtsam/navigation/tests/testAHRSFactor.cpp +++ b/gtsam/navigation/tests/testAHRSFactor.cpp @@ -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(params), + PreintegratedAhrsMeasurements actualPim( + boost::make_shared(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)); } /* ************************************************************************* */