From e7f3f1cd2989ddb233d58c8a8421ee1bccecb01d Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Wed, 23 Dec 2015 12:51:28 -0800
Subject: [PATCH] Derivative tested again

---
 gtsam/navigation/tests/testImuFactor.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index a54143bd0..0d16ba444 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -193,9 +193,13 @@ TEST(ImuFactor, Accelerating) {
   boost::function<NavState(const Vector3&, const Vector3&)> f =
       boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10,
           boost::none, boost::none, boost::none);
+  const Vector3 measuredAcc = runner.measured_acceleration(T);
+  const Vector3 measuredOmega = runner.measured_angular_velocity(T);
   pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, aG2);
-  EXPECT(assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7));
-  EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7));
+  EXPECT(assert_equal(
+      numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7));
+  EXPECT(assert_equal(
+      numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7));
 }
 
 /* ************************************************************************* */