44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testInertialNavFactor.cpp
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* @brief Unit test for the InertialNavFactor
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* @author Vadim Indelman, Stephen Williams
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*/
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#include <gtsam_unstable/navigation/ImuBias.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( ImuBias, Constructor)
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{
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Vector bias_acc(Vector_(3,0.1,0.2,0.4));
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Vector bias_gyro(Vector_(3, -0.2, 0.5, 0.03));
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// Default Constructor
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gtsam::imuBias::ConstantBias bias1;
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// Acc + Gyro Constructor
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gtsam::imuBias::ConstantBias bias2(bias_acc, bias_gyro);
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// Copy Constructor
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gtsam::imuBias::ConstantBias bias3(bias2);
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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