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Derivative tested again

release/4.3a0
Frank Dellaert 2015-12-23 12:51:28 -08:00
parent bf82b58782
commit e7f3f1cd29
1 changed files with 6 additions and 2 deletions
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8
gtsam/navigation/tests/testImuFactor.cpp
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@ -193,9 +193,13 @@ TEST(ImuFactor, Accelerating) {
boost::function<NavState(const Vector3&, const Vector3&)> f = boost::function<NavState(const Vector3&, const Vector3&)> f =
boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10, boost::bind(&PreintegrationBase::updatedDeltaXij, pim, _1, _2, T/10,
boost::none, boost::none, boost::none); 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); 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(
EXPECT(assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7)); numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), aG1, 1e-7));
EXPECT(assert_equal(
numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), aG2, 1e-7));
} }
/* ************************************************************************* */ /* ************************************************************************* */