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non-isotropic diagonal noises to check the effect of body_R_sensor. Predefine seeds for random samplers

release/4.3a0
Duy-Nguyen Ta 2015-09-10 23:07:45 -04:00
parent c9fae14a98
commit f59c442fb3
1 changed files with 3 additions and 0 deletions
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gtsam/navigation/tests/testImuFactor.cpp
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@ -61,6 +61,9 @@ double intNoiseVar = 0.0001;
const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3; const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3;
const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3; const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3;
const Matrix3 kIntegrationErrorCovariance = intNoiseVar * 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 // Auxiliary functions to test preintegrated Jacobians
// delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_ // delPdelBiasAcc_ delPdelBiasOmega_ delVdelBiasAcc_ delVdelBiasOmega_ delRdelBiasOmega_