From a9954b3bd5b336734eab055c641b81f4ade77a13 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:32:39 -0400 Subject: [PATCH] test pass when using priorBias in Preint instead of zeroBias --- gtsam/navigation/tests/testImuFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 24c283bd2..66b3ba8d2 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -987,7 +987,7 @@ TEST(ImuFactor, bodyPSensorWithBias) { Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0)); for (int i = 1; i < numFactors; i++) { ImuFactor::PreintegratedMeasurements pim = - ImuFactor::PreintegratedMeasurements(zeroBias, accCov, gyroCov, + ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov, integrationCov, true); for (int j = 0; j < 200; ++j) pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT,