From 3f6087172aeb07fc49aa8d4ed323befb0186463f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Wed, 23 Dec 2020 12:34:03 +0100 Subject: [PATCH] Make the bias test a true gtest by adding asserts --- ...est_processor_motion_intrinsics_update.cpp | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/test/gtest_processor_motion_intrinsics_update.cpp b/test/gtest_processor_motion_intrinsics_update.cpp index 210297368..4dbac9621 100644 --- a/test/gtest_processor_motion_intrinsics_update.cpp +++ b/test/gtest_processor_motion_intrinsics_update.cpp @@ -1,6 +1,8 @@ #include <fstream> +#include "imu/internal/config.h" #include "core/utils/utils_gtest.h" +#include "core/utils/logging.h" #include "core/common/wolf.h" #include "core/problem/problem.h" @@ -227,6 +229,28 @@ TEST_F(ProcessorImuTest, getState) #if WRITE_CSV_FILE file_est.close(); #endif + + /** assert final results + * + * t 0 .9 1 1.9 2 3 + * BIAS .4 .4 0 0 0 0 + * BIAS PREINT .4 .4 .4 .4 0 0 + * X 0 !0 0 0 0 0 + * V 0 !0 0 0 0 0 + * + * though we only test at KFs so t = { 0, 1, 2, 3 } + */ + + for (auto F : *problem_->getTrajectory() ) + { + auto ts = F->getTimeStamp(); + + double bias = (t == 0 ? 0.42 : 0.0); + ASSERT_NEAR(F->getCaptureOf(sensor_)->getSensorIntrinsic()->getState()(0), bias, 1e-6); + ASSERT_NEAR(F->getP()->getState()(0),0.0,1e-6); + ASSERT_NEAR(F->getV()->getState()(0),0.0,1e-6); + } + } -- GitLab