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Fixed all but sensor_pose error

release/4.3a0
dellaert 2015-07-29 12:01:22 -07:00
parent 2a9e1db4cb
commit 75cc3020eb
1 changed files with 21 additions and 21 deletions
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42
gtsam/navigation/tests/testImuFactor.cpp
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@ -306,7 +306,7 @@ TEST(ImuFactor, ErrorAndJacobians) {
EXPECT(assert_equal(expectedError, factor.unwhitenedError(values)));
// Make sure linearization is correct
double diffDelta = 1e-5;
double diffDelta = 1e-7;
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3);
// Actual Jacobians
@ -391,7 +391,7 @@ TEST(ImuFactor, ErrorAndJacobianWithBiases) {
values.insert(B(1), bias);
// Make sure linearization is correct
double diffDelta = 1e-5;
double diffDelta = 1e-7;
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3);
}
@ -431,7 +431,7 @@ TEST(ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) {
values.insert(B(1), bias);
// Make sure linearization is correct
double diffDelta = 1e-5;
double diffDelta = 1e-7;
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, diffDelta, 1e-3);
}
@ -826,15 +826,15 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
Matrix expected(9,9);
expected <<
0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, 0.0,//
0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290780477, 0.0, 9.23468723e-05,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290688208, 4.62505461e-06,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9.23468723e-05, 4.62505461e-06, 0.0299907267;
0.0290780477, 4.63277848e-07, 9.23468723e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, //
4.63277848e-07, 0.0290688208, 4.62505461e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, //
9.23468723e-05, 4.62505461e-06, 0.0299907267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, //
0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, //
0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, //
0.0, 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, //
0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, //
0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, //
0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01;
EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6));
// Create factor
@ -960,15 +960,15 @@ TEST(ImuFactor, PredictArbitrary) {
Matrix expected(9,9);
expected << //
0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, -0.0144839494, -0.0454268484, 0.00489577218,//
0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, 0.044978128, -0.0149428917, 0.00839301168, //
-0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, 0.0100471195, 0.00609093775, 0.000448720395, //
0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, -0.0409843415, -0.13554868, 0.00879031682, //
0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, 0.134423822, -0.0471183681, 0.0162199769, //
-0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764, 0.0383280513, 0.0247643646, 0.00112485862,//
-0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, 0.0299999995, 0.0, 0.0, //
-0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, 0.0, 0.0299999995, 0.0, //
0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, 0.0, 0.0, 0.0299999995;
0.0299999995, 2.46739898e-10, 2.46739896e-10, -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, //
2.46739898e-10, 0.0299999995, 2.46739902e-10, -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, //
2.46739896e-10, 2.46739902e-10, 0.0299999995, 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, //
-0.0144839494, -0.0454268484, 0.00489577218, 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, //
0.044978128, -0.0149428917, 0.00839301168, 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, //
0.0100471195, 0.00609093775, 0.000448720395, -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, //
-0.0409843415, -0.13554868, 0.00879031682, 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, //
0.134423822, -0.0471183681, 0.0162199769, 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, //
0.0383280513, 0.0247643646, 0.00112485862, -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764;
EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7));
// Create factor