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reverted to previous gravity name

release/4.3a0
krunalchande 2015-03-08 15:31:02 -04:00
parent a814534c92
commit 6861b8dd01
1 changed files with 2 additions and 2 deletions
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4
gtsam/navigation/tests/testImuFactor.cpp
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@ -935,7 +935,7 @@ TEST(ImuFactor, CheckBiasCorrection) {
// Measurements. Body frame and nav frame are both z-up
Vector3 measuredOmega; measuredOmega << 0, 0.3, 0.0;
Vector3 measuredAcc; measuredAcc << 0, 0, g;
Vector3 n_gravity; n_gravity << 0, 0, -g;
Vector3 gravity; gravity << 0, 0, -g;
// Set up noise and other test params
imuBias::ConstantBias zeroBias(Vector3(0, 0, 0), Vector3(0.0, 0, 0)); // Biases (acc, rot)
@ -975,7 +975,7 @@ TEST(ImuFactor, CheckBiasCorrection) {
for (int j = 0; j< numSamplesPreint; ++j) pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
// Create and add factor
ImuFactor factor(X(i-1), V(i-1), X(i), V(i), B(i-1), pre_int_data, n_gravity, omegaCoriolis);
ImuFactor factor(X(i-1), V(i-1), X(i), V(i), B(i-1), pre_int_data, gravity, omegaCoriolis);
graph.add(factor);
graph.add(BetweenFactor<imuBias::ConstantBias>(B(i-1), B(i), zeroBias, biasNoiseModel));