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remove cout statements from testImuPreintegration tests

release/4.3a0
Varun Agrawal 2021-01-19 15:47:15 -05:00
parent 07244bbdea
commit 7eeed6dc14
1 changed files with 2 additions and 6 deletions
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8
tests/testImuPreintegration.cpp
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@ -64,8 +64,6 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
measurement.I_a_WI = {results[29], results[30], results[31]}; measurement.I_a_WI = {results[29], results[30], results[31]};
measurement.I_w_WI = {results[17], results[18], results[19]}; measurement.I_w_WI = {results[17], results[18], results[19]};
imuMeasurements.push_back(measurement); imuMeasurements.push_back(measurement);
// cout << "IMU measurement " << measurement << endl;
} }
// Assume a Z-up navigation (assuming we are performing optimization in the // Assume a Z-up navigation (assuming we are performing optimization in the
@ -92,8 +90,8 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
NavState initialNavState(priorPose, priorVelocity); NavState initialNavState(priorPose, priorVelocity);
// Assume zero bias for simulated data // Assume zero bias for simulated data
priorImuBias = imuBias::ConstantBias(Eigen::Vector3d(0,0,0), priorImuBias =
Eigen::Vector3d(0,0,0)); imuBias::ConstantBias(Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(0, 0, 0));
imuPreintegrated = imuPreintegrated =
PreintegratedCombinedMeasurements(imuPreintegratedParams, priorImuBias); PreintegratedCombinedMeasurements(imuPreintegratedParams, priorImuBias);
@ -107,8 +105,6 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
propState = imuPreintegrated.predict(initialNavState, priorImuBias); propState = imuPreintegrated.predict(initialNavState, priorImuBias);
position = propState.pose().translation(); position = propState.pose().translation();
velocity = propState.velocity(); velocity = propState.velocity();
// cout << "IMU Position " << position.transpose() << endl;
// cout << "IMU Velocity " << velocity.transpose() << endl;
} }
Vector3 rotation = propState.pose().rotation().rpy(); Vector3 rotation = propState.pose().rotation().rpy();