Fixed incorrect name change
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				|  | @ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3); | |||
| static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias); | ||||
| 
 | ||||
| // Create default parameters with Z-up and above noise parameters
 | ||||
| static boost::shared_ptr<PreintegratedImuMeasurements::Params> testing::Params() { | ||||
| static boost::shared_ptr<PreintegratedImuMeasurements::Params> defaultParams() { | ||||
|   auto p = PreintegrationParams::MakeSharedU(10); | ||||
|   p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3; | ||||
|   p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3; | ||||
|  | @ -51,7 +51,7 @@ TEST(ScenarioRunner, Spin) { | |||
|   const Vector3 W(0, 0, w), V(0, 0, 0); | ||||
|   const ConstantTwistScenario scenario(W, V); | ||||
| 
 | ||||
|   auto p = testing::Params(); | ||||
|   auto p = defaultParams(); | ||||
|   ScenarioRunner runner(&scenario, p, kDt); | ||||
|   const double T = 2 * kDt;  // seconds
 | ||||
| 
 | ||||
|  | @ -80,7 +80,7 @@ ConstantTwistScenario scenario(Vector3::Zero(), Vector3(v, 0, 0)); | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, Forward) { | ||||
|   using namespace forward; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), kDt); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), kDt); | ||||
|   const double T = 0.1;  // seconds
 | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|  | @ -94,7 +94,7 @@ TEST(ScenarioRunner, Forward) { | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, ForwardWithBias) { | ||||
|   using namespace forward; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), kDt); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), kDt); | ||||
|   const double T = 0.1;  // seconds
 | ||||
| 
 | ||||
|   auto pim = runner.integrate(T, kNonZeroBias); | ||||
|  | @ -108,7 +108,7 @@ TEST(ScenarioRunner, Circle) { | |||
|   const double v = 2, w = 6 * kDegree; | ||||
|   ConstantTwistScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0)); | ||||
| 
 | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), kDt); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), kDt); | ||||
|   const double T = 0.1;  // seconds
 | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|  | @ -126,7 +126,7 @@ TEST(ScenarioRunner, Loop) { | |||
|   const double v = 2, w = 6 * kDegree; | ||||
|   ConstantTwistScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0)); | ||||
| 
 | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), kDt); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), kDt); | ||||
|   const double T = 0.1;  // seconds
 | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|  | @ -157,7 +157,7 @@ const double T = 3;  // seconds | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, Accelerating) { | ||||
|   using namespace accelerating; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -170,7 +170,7 @@ TEST(ScenarioRunner, Accelerating) { | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, AcceleratingWithBias) { | ||||
|   using namespace accelerating; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T, kNonZeroBias); | ||||
|   Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); | ||||
|  | @ -185,7 +185,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating) { | |||
|   const AcceleratingScenario scenario(nRb, P0, V0, A, W); | ||||
| 
 | ||||
|   const double T = 10;  // seconds
 | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -216,7 +216,7 @@ const double T = 3;  // seconds | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, Accelerating2) { | ||||
|   using namespace accelerating2; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -229,7 +229,7 @@ TEST(ScenarioRunner, Accelerating2) { | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, AcceleratingWithBias2) { | ||||
|   using namespace accelerating2; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T, kNonZeroBias); | ||||
|   Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); | ||||
|  | @ -244,7 +244,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating2) { | |||
|   const AcceleratingScenario scenario(nRb, P0, V0, A, W); | ||||
| 
 | ||||
|   const double T = 10;  // seconds
 | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -276,7 +276,7 @@ const double T = 3;  // seconds | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, Accelerating3) { | ||||
|   using namespace accelerating3; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -289,7 +289,7 @@ TEST(ScenarioRunner, Accelerating3) { | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, AcceleratingWithBias3) { | ||||
|   using namespace accelerating3; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T, kNonZeroBias); | ||||
|   Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); | ||||
|  | @ -304,7 +304,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating3) { | |||
|   const AcceleratingScenario scenario(nRb, P0, V0, A, W); | ||||
| 
 | ||||
|   const double T = 10;  // seconds
 | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -337,7 +337,7 @@ const double T = 3;  // seconds | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, Accelerating4) { | ||||
|   using namespace accelerating4; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  | @ -350,7 +350,7 @@ TEST(ScenarioRunner, Accelerating4) { | |||
| /* ************************************************************************* */ | ||||
| TEST(ScenarioRunner, AcceleratingWithBias4) { | ||||
|   using namespace accelerating4; | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T, kNonZeroBias); | ||||
|   Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias); | ||||
|  | @ -365,7 +365,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating4) { | |||
|   const AcceleratingScenario scenario(nRb, P0, V0, A, W); | ||||
| 
 | ||||
|   const double T = 10;  // seconds
 | ||||
|   ScenarioRunner runner(&scenario, testing::Params(), T / 10); | ||||
|   ScenarioRunner runner(&scenario, defaultParams(), T / 10); | ||||
| 
 | ||||
|   auto pim = runner.integrate(T); | ||||
|   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9)); | ||||
|  |  | |||
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