From 8dbbb1fe1f3eca333602e4673d8c976a5375984b Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 6 May 2022 16:45:37 -0400 Subject: [PATCH] fix test --- .../tests/testCombinedImuFactor.cpp | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp index 2f12983c3..8091e3ad2 100644 --- a/gtsam/navigation/tests/testCombinedImuFactor.cpp +++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp @@ -230,21 +230,21 @@ TEST(CombinedImuFactor, CheckCovariance) { actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT); Eigen::Matrix expected; - expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, // - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01; + expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // + 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // + 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, // + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, // + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, // + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, // + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, // + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, // + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0; // regression EXPECT(assert_equal(expected, actual.preintMeasCov()));