Tune test

demos/processor_imu.yaml

@@ -13,4 +13,4 @@ keyframe_vote:
 bootstrap:
     enable: true 
     method: "G"
-    averaging_length: 0.25 # seconds
\ No newline at end of file
+    averaging_length: 0.10 # seconds
\ No newline at end of file

test/gtest_imu.cpp

@@ -1542,18 +1542,18 @@ TEST_F(Process_Factor_Imu_ODO, RecoverTrajectory_MotionRandom_PqV_b__pqV_b) // F
 TEST_F(Process_Factor_Imu, bootstrap)
 {
     processor_imu->setVotingActive(true);
-    processor_imu->setMaxTimeSpan(0.1);
+    processor_imu->setMaxTimeSpan(0.4);
 
     auto KF0 = problem->emplaceFrame(0.0);
     problem->keyFrameCallback(KF0,nullptr);
     problem->print(4, 0, 1, 0);
 
     // Vector6d data(0,0,9.806, 0,0,0); // gravity on Z
-    Vector6d data(0.0,9.806,0.0, 0.0,0.0,0.0); // gravity on Y
+    Vector6d data(0.0, 9.806, 0.0,  0.0, 0.0, 0.0); // gravity on Y
 
     capture_imu = std::make_shared<CaptureImu>(0.0, sensor_imu, data, Matrix6d::Identity());
 
-    for (t = 0; t < 0.35; t += dt)
+    for (t = 0; t < 0.14; t += dt)
     {
         capture_imu->setTimeStamp(t);
         capture_imu->process();