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test pass when using priorBias in Preint instead of zeroBias

release/4.3a0
Duy-Nguyen Ta 2015-09-17 11:32:39 -04:00
parent cf821f5124
commit a9954b3bd5
1 changed files with 1 additions and 1 deletions
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gtsam/navigation/tests/testImuFactor.cpp
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@ -987,7 +987,7 @@ TEST(ImuFactor, bodyPSensorWithBias) {
Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0)); Bias zeroBias(Vector3(0, 0, 0), Vector3(0, 0, 0));
for (int i = 1; i < numFactors; i++) { for (int i = 1; i < numFactors; i++) {
ImuFactor::PreintegratedMeasurements pim = ImuFactor::PreintegratedMeasurements pim =
ImuFactor::PreintegratedMeasurements(zeroBias, accCov, gyroCov, ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov,
integrationCov, true); integrationCov, true);
for (int j = 0; j < 200; ++j) for (int j = 0; j < 200; ++j)
pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT, pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT,