From f59c442fb3363692760d278f62dd687621b3264a Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Thu, 10 Sep 2015 23:07:45 -0400 Subject: [PATCH] non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers --- gtsam/navigation/tests/testImuFactor.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 50d6a8533..517ee6798 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -61,6 +61,9 @@ double intNoiseVar = 0.0001; const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3; +const Vector3 accNoiseVar2(0.01, 0.02, 0.03); +const Vector3 omegaNoiseVar2(0.03, 0.01, 0.02); +int32_t accSamplerSeed = 29284, omegaSamplerSeed = 10; // Auxiliary functions to test preintegrated Jacobians // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_