finished testing

test/gtest_imu2d_static_init.cpp

+/*
+ * gtest_imu2d_static_init.cpp
+ *
+ *  Created on: Sept 2021
+ *      Author: igeer
+ */
+
 #include <fstream>
 #include <core/ceres_wrapper/solver_ceres.h>
 #include <core/utils/utils_gtest.h>
@@ -507,6 +514,17 @@ TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_random)
 
    TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_random", 3, false); 
 }
+
+TEST_F(ProcessorImu2dStaticInitTest, realistic_test)
+{
+   Vector3d body_magnitudes = Vector3d::Zero();
+   Vector3d bias_groundtruth = (Vector3d() << -0.529550648247,
+                                               0.278316717683,
+                                              -0.00122491355676).finished();
+   Vector3d bias_initial_guess = Vector3d::Zero();
+
+   TestStatic(body_magnitudes, bias_groundtruth, bias_initial_guess, "static_bias_zero_initial_guess_random", 3, false); 
+}
 //class ProcessorImu2dStaticInitTest : public testing::Test
 //{
 //

test/gtest_imu_static_init.cpp

+/*
+ * gtest_imu_static_init.cpp
+ *
+ *  Created on: Sept 2021
+ *      Author: igeer
+ */
 #include <fstream>
 
 #include <core/ceres_wrapper/solver_ceres.h>