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update api

release/4.3a0
Duy-Nguyen Ta 2015-09-17 11:30:39 -04:00
parent c7e52fe861
commit cf821f5124
1 changed files with 1 additions and 1 deletions
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gtsam/navigation/tests/testImuFactor.cpp
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@ -642,7 +642,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
// Check updatedDeltaXij derivatives // Check updatedDeltaXij derivatives
Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero(); Matrix3 D_correctedAcc_measuredOmega = Matrix3::Zero();
pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, D_correctedAcc_measuredOmega); pim.correctMeasurementsByBiasAndSensorPose(measuredAcc, measuredOmega, boost::none, D_correctedAcc_measuredOmega, boost::none);
Matrix3 expectedD = numericalDerivative11<Vector3, Vector3>(boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6); Matrix3 expectedD = numericalDerivative11<Vector3, Vector3>(boost::bind(correctedAcc, pim, measuredAcc, _1), measuredOmega, 1e-6);
EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5)); EXPECT(assert_equal(expectedD, D_correctedAcc_measuredOmega, 1e-5));