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imu
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mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
d0d71ded
Commit
d0d71ded
authored
3 years ago
by
Idril-Tadzio Geer Cousté
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work
parent
c3a5bbf7
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4 merge requests
!39
release after RAL
,
!38
After 2nd RAL submission
,
!33
Imu2d static initialization
,
!31
Imu2d static initialization
Changes
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1 changed file
test/gtest_imu_static_init.cpp
+9
-8
9 additions, 8 deletions
test/gtest_imu_static_init.cpp
with
9 additions
and
8 deletions
test/gtest_imu_static_init.cpp
+
9
−
8
View file @
d0d71ded
...
@@ -25,9 +25,10 @@ class ProcessorImuStaticInitTest : public testing::Test
...
@@ -25,9 +25,10 @@ class ProcessorImuStaticInitTest : public testing::Test
bool
second_frame
;
bool
second_frame
;
Vector6d
data
;
Vector6d
data
;
Matrix6d
data_cov
;
Matrix6d
data_cov
;
VectorComposite
x0c
;
// initial state composite
//
VectorComposite x0c; // initial state composite
VectorComposite
s0c
;
// initial sigmas composite
VectorComposite
s0c
;
// initial sigmas composite
std
::
shared_ptr
<
wolf
::
CaptureImu
>
C
;
std
::
shared_ptr
<
wolf
::
CaptureImu
>
C
;
FrameBasePtr
KF0
;
FrameBasePtr
_first_frame
;
FrameBasePtr
_first_frame
;
FrameBasePtr
_last_frame
;
FrameBasePtr
_last_frame
;
SolverCeresPtr
_solver
;
SolverCeresPtr
_solver
;
...
@@ -65,6 +66,13 @@ class ProcessorImuStaticInitTest : public testing::Test
...
@@ -65,6 +66,13 @@ class ProcessorImuStaticInitTest : public testing::Test
// Create the solver
// Create the solver
_solver
=
make_shared
<
SolverCeres
>
(
_problem_ptr
);
_solver
=
make_shared
<
SolverCeres
>
(
_problem_ptr
);
// Set the origin
VectorComposite
x0c
(
"POV"
,
{
Vector3d
::
Zero
(),
(
Vector4d
()
<<
0
,
0
,
0
,
1
).
finished
(),
Vector3d
::
Zero
()});
WOLF_INFO
(
"x0c is:
\n
"
,
x0c
);
KF0
=
_problem_ptr
->
setPriorFix
(
x0c
,
t0
,
dt
/
2
);
KF0
->
fix
();
_processor_motion
->
setOrigin
(
KF0
);
}
}
};
};
...
@@ -73,10 +81,6 @@ class ProcessorImuStaticInitTest : public testing::Test
...
@@ -73,10 +81,6 @@ class ProcessorImuStaticInitTest : public testing::Test
TEST_F
(
ProcessorImuStaticInitTest
,
static
)
TEST_F
(
ProcessorImuStaticInitTest
,
static
)
{
{
WOLF_INFO
(
"Starting Test"
);
WOLF_INFO
(
"Starting Test"
);
// Set the origin
x0c
[
'P'
]
=
Vector3d
(
0
,
0
,
0
);
x0c
[
'O'
]
=
Vector4d
(
0
,
0
,
0
,
1
);
x0c
[
'V'
]
=
Vector3d
(
0
,
0
,
0
);
data_cov
*=
1e-3
;
data_cov
*=
1e-3
;
data
<<
1
,
2
,
3
,
4
,
5
,
6
;
data
<<
1
,
2
,
3
,
4
,
5
,
6
;
...
@@ -86,9 +90,6 @@ TEST_F(ProcessorImuStaticInitTest, static)
...
@@ -86,9 +90,6 @@ TEST_F(ProcessorImuStaticInitTest, static)
//dt = 0.0001;
//dt = 0.0001;
auto
KF0
=
_problem_ptr
->
setPriorFix
(
x0c
,
t0
,
dt
/
2
);
KF0
->
fix
();
_processor_motion
->
setOrigin
(
KF0
);
WOLF_INFO
(
"Data is:
\n
"
,
data
);
WOLF_INFO
(
"Data is:
\n
"
,
data
);
int
size
=
7
;
int
size
=
7
;
...
...
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