From c7e52fe861073661081a8e9d5eb57c263b708d30 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 17 Sep 2015 11:28:59 -0400 Subject: [PATCH] a bit more complicated test case --- gtsam/navigation/tests/testImuFactor.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 91da5598b..74c2d8409 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -632,8 +632,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) { + Vector3(0.2, 0.0, 0.0); double dt = 0.1; - Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0, 0)); - imuBias::ConstantBias biasHat(Vector3(0.0, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); + Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 0.05, 0.01)); + imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); // Get mean prediction from "ground truth" measurements PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(),