From 9fb651d8708e396a5b82aedf948be39a39f5b7f4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 26 May 2023 15:37:18 -0400
Subject: [PATCH] additional matlab test

---
 matlab/gtsam_tests/testCal3Unified.m | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/matlab/gtsam_tests/testCal3Unified.m b/matlab/gtsam_tests/testCal3Unified.m
index 498c65343..ec5bff871 100644
--- a/matlab/gtsam_tests/testCal3Unified.m
+++ b/matlab/gtsam_tests/testCal3Unified.m
@@ -5,3 +5,8 @@ K = Cal3Unified;
 EXPECT('fx',K.fx()==1);
 EXPECT('fy',K.fy()==1);
 
+params = PreintegrationParams.MakeSharedU(-9.81);
+%params.getOmegaCoriolis()
+
+expectedBodyPSensor = gtsam.Pose3(gtsam.Rot3(0, 0, 0, 0, 0, 0, 0, 0, 0), gtsam.Point3(0, 0, 0));
+EXPECT('getBodyPSensor', expectedBodyPSensor.equals(params.getBodyPSensor(), 1e-9));