70 lines
2.3 KiB
C++
70 lines
2.3 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 testEquivInertialNavFactor_GlobalVel.h.cpp
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* @brief Unit test for the InertialNavFactor_GlobalVelocity
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* @author Vadim Indelman, Stephen Williams
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*/
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#include <gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h>
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#include <gtsam/navigation/ImuBias.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/inference/Key.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <boost/bind/bind.hpp>
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#include <CppUnitLite/TestHarness.h>
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#include <iostream>
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using namespace std::placeholders;
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( EquivInertialNavFactor_GlobalVel, Constructor)
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{
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Key poseKey1(11);
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Key poseKey2(12);
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Key velKey1(21);
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Key velKey2(22);
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Key biasKey1(31);
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// IMU accumulation variables
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Vector delta_pos_in_t0 = Vector3(0.0, 0.0, 0.0);
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Vector delta_vel_in_t0 = Vector3(0.0, 0.0, 0.0);
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Vector delta_angles = Vector3(0.0, 0.0, 0.0);
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double delta_t = 0.0;
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Matrix EquivCov_Overall = Matrix::Zero(15,15);
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Matrix Jacobian_wrt_t0_Overall = Matrix::Identity(15,15);
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imuBias::ConstantBias bias1 = imuBias::ConstantBias();
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// Earth Terms (gravity, etc)
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Vector3 g(0.0, 0.0, -9.80);
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Vector3 rho(0.0, 0.0, 0.0);
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Vector3 omega_earth(0.0, 0.0, 0.0);
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// IMU Noise Model
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SharedGaussian imu_model = noiseModel::Gaussian::Covariance(EquivCov_Overall.block(0,0,9,9));
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// Constructor
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EquivInertialNavFactor_GlobalVel<Pose3, Vector3, imuBias::ConstantBias> factor(
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poseKey1, velKey1, biasKey1, poseKey2, velKey2,
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delta_pos_in_t0, delta_vel_in_t0, delta_angles, delta_t,
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g, rho, omega_earth, imu_model, Jacobian_wrt_t0_Overall, bias1);
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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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