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a bit more complicated test case

release/4.3a0
Duy-Nguyen Ta 2015-09-17 11:28:59 -04:00
parent f3b97ed2c2
commit c7e52fe861
1 changed files with 2 additions and 2 deletions
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4
gtsam/navigation/tests/testImuFactor.cpp
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@ -632,8 +632,8 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
+ Vector3(0.2, 0.0, 0.0); + Vector3(0.2, 0.0, 0.0);
double dt = 0.1; double dt = 0.1;
Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, M_PI/2, 0)), Point3(0.1, 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(0.0, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)); imuBias::ConstantBias biasHat(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0));
// Get mean prediction from "ground truth" measurements // Get mean prediction from "ground truth" measurements
PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(), PreintegratedImuMeasurements pim(biasHat, accNoiseVar2.asDiagonal(),