Fixed incorrect name change
Frank Dellaert
parent
77969f97d9
commit
e9f6b52620
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@ -34,7 +34,7 @@ static const Vector3 kAccBias(0.2, 0, 0), kRotBias(0.1, 0, 0.3);
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static const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias);
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// Create default parameters with Z-up and above noise parameters
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static boost::shared_ptr<PreintegratedImuMeasurements::Params> testing::Params() {
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static boost::shared_ptr<PreintegratedImuMeasurements::Params> defaultParams() {
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auto p = PreintegrationParams::MakeSharedU(10);
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p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3;
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p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3;
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@ -51,7 +51,7 @@ TEST(ScenarioRunner, Spin) {
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const Vector3 W(0, 0, w), V(0, 0, 0);
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const ConstantTwistScenario scenario(W, V);
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auto p = testing::Params();
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auto p = defaultParams();
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ScenarioRunner runner(&scenario, p, kDt);
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const double T = 2 * kDt; // seconds
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@ -80,7 +80,7 @@ ConstantTwistScenario scenario(Vector3::Zero(), Vector3(v, 0, 0));
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/* ************************************************************************* */
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TEST(ScenarioRunner, Forward) {
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using namespace forward;
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ScenarioRunner runner(&scenario, testing::Params(), kDt);
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ScenarioRunner runner(&scenario, defaultParams(), kDt);
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const double T = 0.1; // seconds
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auto pim = runner.integrate(T);
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@ -94,7 +94,7 @@ TEST(ScenarioRunner, Forward) {
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/* ************************************************************************* */
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TEST(ScenarioRunner, ForwardWithBias) {
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using namespace forward;
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ScenarioRunner runner(&scenario, testing::Params(), kDt);
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ScenarioRunner runner(&scenario, defaultParams(), kDt);
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const double T = 0.1; // seconds
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auto pim = runner.integrate(T, kNonZeroBias);
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@ -108,7 +108,7 @@ TEST(ScenarioRunner, Circle) {
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const double v = 2, w = 6 * kDegree;
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ConstantTwistScenario scenario(Vector3(0, 0, w), Vector3(v, 0, 0));
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ScenarioRunner runner(&scenario, testing::Params(), kDt);
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ScenarioRunner runner(&scenario, defaultParams(), kDt);
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const double T = 0.1; // seconds
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auto pim = runner.integrate(T);
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@ -126,7 +126,7 @@ TEST(ScenarioRunner, Loop) {
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const double v = 2, w = 6 * kDegree;
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ConstantTwistScenario scenario(Vector3(0, -w, 0), Vector3(v, 0, 0));
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ScenarioRunner runner(&scenario, testing::Params(), kDt);
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ScenarioRunner runner(&scenario, defaultParams(), kDt);
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const double T = 0.1; // seconds
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auto pim = runner.integrate(T);
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@ -157,7 +157,7 @@ const double T = 3; // seconds
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/* ************************************************************************* */
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TEST(ScenarioRunner, Accelerating) {
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using namespace accelerating;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -170,7 +170,7 @@ TEST(ScenarioRunner, Accelerating) {
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/* ************************************************************************* */
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TEST(ScenarioRunner, AcceleratingWithBias) {
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using namespace accelerating;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias);
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auto pim = runner.integrate(T, kNonZeroBias);
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Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias);
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@ -185,7 +185,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating) {
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const AcceleratingScenario scenario(nRb, P0, V0, A, W);
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const double T = 10; // seconds
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -216,7 +216,7 @@ const double T = 3; // seconds
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/* ************************************************************************* */
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TEST(ScenarioRunner, Accelerating2) {
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using namespace accelerating2;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -229,7 +229,7 @@ TEST(ScenarioRunner, Accelerating2) {
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/* ************************************************************************* */
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TEST(ScenarioRunner, AcceleratingWithBias2) {
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using namespace accelerating2;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias);
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auto pim = runner.integrate(T, kNonZeroBias);
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Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias);
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@ -244,7 +244,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating2) {
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const AcceleratingScenario scenario(nRb, P0, V0, A, W);
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const double T = 10; // seconds
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -276,7 +276,7 @@ const double T = 3; // seconds
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/* ************************************************************************* */
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TEST(ScenarioRunner, Accelerating3) {
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using namespace accelerating3;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -289,7 +289,7 @@ TEST(ScenarioRunner, Accelerating3) {
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/* ************************************************************************* */
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TEST(ScenarioRunner, AcceleratingWithBias3) {
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using namespace accelerating3;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias);
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auto pim = runner.integrate(T, kNonZeroBias);
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Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias);
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@ -304,7 +304,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating3) {
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const AcceleratingScenario scenario(nRb, P0, V0, A, W);
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const double T = 10; // seconds
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -337,7 +337,7 @@ const double T = 3; // seconds
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/* ************************************************************************* */
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TEST(ScenarioRunner, Accelerating4) {
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using namespace accelerating4;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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@ -350,7 +350,7 @@ TEST(ScenarioRunner, Accelerating4) {
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/* ************************************************************************* */
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TEST(ScenarioRunner, AcceleratingWithBias4) {
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using namespace accelerating4;
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ScenarioRunner runner(&scenario, testing::Params(), T / 10, kNonZeroBias);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10, kNonZeroBias);
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auto pim = runner.integrate(T, kNonZeroBias);
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Matrix9 estimatedCov = runner.estimateCovariance(T, 10000, kNonZeroBias);
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@ -365,7 +365,7 @@ TEST(ScenarioRunner, AcceleratingAndRotating4) {
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const AcceleratingScenario scenario(nRb, P0, V0, A, W);
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const double T = 10; // seconds
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ScenarioRunner runner(&scenario, testing::Params(), T / 10);
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ScenarioRunner runner(&scenario, defaultParams(), T / 10);
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auto pim = runner.integrate(T);
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EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
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