From 91ac5c29dc1766a2178ac4c8a412e31f0ee4d0ee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 17 Jun 2022 16:15:32 +0200
Subject: [PATCH] Add test for bootstrap
---
test/gtest_imu.cpp | 24 +++++++++++++++++++++++-
1 file changed, 23 insertions(+), 1 deletion(-)
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 6e63ec0bb..91f648ac1 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1539,10 +1539,32 @@ 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->setMaxBuffLength(20);
+
+ 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(0,9.806,0, 0,0,0); // gravity on Y
+
+ capture_imu = std::make_shared<CaptureImu>(0.0, sensor_imu, data, Matrix6d::Identity());
+
+ for (t = 0.0; t < 1.0; t += dt)
+ {
+ capture_imu->setTimeStamp(t);
+ capture_imu->process();
+ problem->print(4, 0, 1, 0);
+ }
+}
+
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
- // ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu.*";
+ // ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu.bootstrap";
// ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu_ODO.*";
// ::testing::GTEST_FLAG(filter) = "Process_Factor_Imu_ODO.RecoverTrajectory_MotionRandom_PqV_b__pqV_b";
--
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