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Commit a014593d authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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finished testing

parent c637e962
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/*
* gtest_imu2d_static_init.cpp
*
* Created on: Sept 2021
* Author: igeer
*/
#include <fstream> #include <fstream>
#include <core/ceres_wrapper/solver_ceres.h> #include <core/ceres_wrapper/solver_ceres.h>
#include <core/utils/utils_gtest.h> #include <core/utils/utils_gtest.h>
...@@ -507,6 +514,17 @@ TEST_F(ProcessorImu2dStaticInitTest, static_bias_zero_initial_guess_random) ...@@ -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); 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 //class ProcessorImu2dStaticInitTest : public testing::Test
//{ //{
// //
......
/*
* gtest_imu_static_init.cpp
*
* Created on: Sept 2021
* Author: igeer
*/
#include <fstream> #include <fstream>
#include <core/ceres_wrapper/solver_ceres.h> #include <core/ceres_wrapper/solver_ceres.h>
......
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