From 7eeed6dc14c61f7eeeda35a642bafb1df5888aad Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 19 Jan 2021 15:47:15 -0500 Subject: [PATCH] remove cout statements from testImuPreintegration tests --- tests/testImuPreintegration.cpp | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/tests/testImuPreintegration.cpp b/tests/testImuPreintegration.cpp index 2a2553697..1f584be0e 100644 --- a/tests/testImuPreintegration.cpp +++ b/tests/testImuPreintegration.cpp @@ -64,8 +64,6 @@ TEST(TestImuPreintegration, LoadedSimulationData) { measurement.I_a_WI = {results[29], results[30], results[31]}; measurement.I_w_WI = {results[17], results[18], results[19]}; imuMeasurements.push_back(measurement); - - // cout << "IMU measurement " << measurement << endl; } // Assume a Z-up navigation (assuming we are performing optimization in the @@ -92,8 +90,8 @@ TEST(TestImuPreintegration, LoadedSimulationData) { NavState initialNavState(priorPose, priorVelocity); // Assume zero bias for simulated data - priorImuBias = imuBias::ConstantBias(Eigen::Vector3d(0,0,0), - Eigen::Vector3d(0,0,0)); + priorImuBias = + imuBias::ConstantBias(Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(0, 0, 0)); imuPreintegrated = PreintegratedCombinedMeasurements(imuPreintegratedParams, priorImuBias); @@ -107,8 +105,6 @@ TEST(TestImuPreintegration, LoadedSimulationData) { propState = imuPreintegrated.predict(initialNavState, priorImuBias); position = propState.pose().translation(); velocity = propState.velocity(); - // cout << "IMU Position " << position.transpose() << endl; - // cout << "IMU Velocity " << velocity.transpose() << endl; } Vector3 rotation = propState.pose().rotation().rpy();