From a014593d77ddb5f0546c4e37857de392a832c158 Mon Sep 17 00:00:00 2001
From: Idril Geer <igeer@iri.upc.edu>
Date: Mon, 8 Nov 2021 16:10:05 +0100
Subject: [PATCH] finished testing
---
test/gtest_imu2d_static_init.cpp | 18 ++++++++++++++++++
test/gtest_imu_static_init.cpp | 6 ++++++
2 files changed, 24 insertions(+)
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
index b5324fbc9..a2025f8fe 100644
--- a/test/gtest_imu2d_static_init.cpp
+++ b/test/gtest_imu2d_static_init.cpp
@@ -1,3 +1,10 @@
+/*
+ * 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
//{
//
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
index 9c2bdbe07..e34ac13dc 100644
--- a/test/gtest_imu_static_init.cpp
+++ b/test/gtest_imu_static_init.cpp
@@ -1,3 +1,9 @@
+/*
+ * gtest_imu_static_init.cpp
+ *
+ * Created on: Sept 2021
+ * Author: igeer
+ */
#include <fstream>
#include <core/ceres_wrapper/solver_ceres.h>
--
GitLab