From f66c5e36c6193a2ed34e12beb5dfef6d1c8141b8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 17 Jun 2022 00:58:29 +0200
Subject: [PATCH] format
---
test/gtest_imu_tools.cpp | 85 ++++++++++++++++++++--------------------
1 file changed, 42 insertions(+), 43 deletions(-)
diff --git a/test/gtest_imu_tools.cpp b/test/gtest_imu_tools.cpp
index 834c15571..12c6c97f9 100644
--- a/test/gtest_imu_tools.cpp
+++ b/test/gtest_imu_tools.cpp
@@ -641,19 +641,18 @@ TEST(Imu_tools, full_delta_residual)
// WOLF_TRACE("Delta err exp-pre: ", Delta_err.transpose());
}
-
TEST(extract_v0_g, all_zeros)
{
- Vector3d p0(0, 0, 0);
- Quaterniond q0(1,0,0,0);
- Vector3d p1(0,0,0);
- Quaterniond q1(1,0,0,0);
- Vector3d p2(0,0,0);
- double Dt01(1), Dt12(1);
- Vector3d Dp01(0,0,0);
- Vector3d Dp12(0,0,0);
- Vector3d Dv01(0,0,0);
- Vector3d v0, g;
+ Vector3d p0(0, 0, 0);
+ Quaterniond q0(1, 0, 0, 0);
+ Vector3d p1(0, 0, 0);
+ Quaterniond q1(1, 0, 0, 0);
+ Vector3d p2(0, 0, 0);
+ double Dt01(1), Dt12(1);
+ Vector3d Dp01(0, 0, 0);
+ Vector3d Dv01(0, 0, 0);
+ Vector3d Dp12(0, 0, 0);
+ Vector3d v0, g;
extract_v0_g(p0, q0, p1, q1, p2, Dt01, Dp01, Dv01, Dt12, Dp12, v0, g);
@@ -664,7 +663,7 @@ TEST(extract_v0_g, all_zeros)
TEST(extract_v0_g, free_fall_no_rotation)
{
/** free fall v0 = 0
- *
+ *
* X p0 = 0, v0 = 0
* .
* X p1 = -4.9m
@@ -675,16 +674,16 @@ TEST(extract_v0_g, free_fall_no_rotation)
* X p2 = -19,6m
*/
- Vector3d p0(0, 0, 0);
- Quaterniond q0(1,0,0,0);
- Vector3d p1(0,0,-9.8/2);
- Quaterniond q1(1,0,0,0);
- Vector3d p2(0,0,-9.8*4/2);
- double Dt01(1), Dt12(1);
- Vector3d Dp01(0,0,0);
- Vector3d Dp12(0,0,0);
- Vector3d Dv01(0,0,0);
- Vector3d v0, g;
+ Vector3d p0(0, 0, 0);
+ Quaterniond q0(1, 0, 0, 0);
+ Vector3d p1(0, 0, -9.8 / 2);
+ Quaterniond q1(1, 0, 0, 0);
+ Vector3d p2(0, 0, -9.8 * 4 / 2);
+ double Dt01(1), Dt12(1);
+ Vector3d Dp01(0, 0, 0);
+ Vector3d Dv01(0, 0, 0);
+ Vector3d Dp12(0, 0, 0);
+ Vector3d v0, g;
extract_v0_g(p0, q0, p1, q1, p2, Dt01, Dp01, Dv01, Dt12, Dp12, v0, g);
@@ -695,7 +694,7 @@ TEST(extract_v0_g, free_fall_no_rotation)
TEST(extract_v0_g, free_fall_no_rotation_hor_vel)
{
/** free fall v0 = 1m/s horizontally --> parabolic fall
- *
+ *
* X p0 = (0,0)m, v0 = (1,0)m/s
* .
* X p1 = (1,-4.9)m
@@ -705,16 +704,16 @@ TEST(extract_v0_g, free_fall_no_rotation_hor_vel)
* .
* X p2 = (2,-19,6)m
*/
- Vector3d p0(0, 0, 0);
- Quaterniond q0(1,0,0,0);
- Vector3d p1(1,0,-9.8/2);
- Quaterniond q1(1,0,0,0);
- Vector3d p2(2,0,-9.8*4/2);
- double Dt01(1), Dt12(1);
- Vector3d Dp01(0,0,0);
- Vector3d Dp12(0,0,0);
- Vector3d Dv01(0,0,0);
- Vector3d v0, g;
+ Vector3d p0(0, 0, 0);
+ Quaterniond q0(1, 0, 0, 0);
+ Vector3d p1(1, 0, -9.8 / 2);
+ Quaterniond q1(1, 0, 0, 0);
+ Vector3d p2(2, 0, -9.8 * 4 / 2);
+ double Dt01(1), Dt12(1);
+ Vector3d Dp01(0, 0, 0);
+ Vector3d Dv01(0, 0, 0);
+ Vector3d Dp12(0, 0, 0);
+ Vector3d v0, g;
extract_v0_g(p0, q0, p1, q1, p2, Dt01, Dp01, Dv01, Dt12, Dp12, v0, g);
@@ -735,16 +734,16 @@ TEST(extract_v0_g, free_fall_no_rotation_diag_vel)
* v0 = (1, +9.8)m/s
*/
- Vector3d p0(0, 0, 0);
- Quaterniond q0(1,0,0,0);
- Vector3d p1(1,0,+9.8/2);
- Quaterniond q1(1,0,0,0);
- Vector3d p2(2,0,0);
- double Dt01(1), Dt12(1);
- Vector3d Dp01(0,0,0);
- Vector3d Dp12(0,0,0);
- Vector3d Dv01(0,0,0);
- Vector3d v0, g;
+ Vector3d p0(0, 0, 0);
+ Quaterniond q0(1, 0, 0, 0);
+ Vector3d p1(1, 0, +9.8 / 2);
+ Quaterniond q1(1, 0, 0, 0);
+ Vector3d p2(2, 0, 0);
+ double Dt01(1), Dt12(1);
+ Vector3d Dp01(0, 0, 0);
+ Vector3d Dv01(0, 0, 0);
+ Vector3d Dp12(0, 0, 0);
+ Vector3d v0, g;
extract_v0_g(p0, q0, p1, q1, p2, Dt01, Dp01, Dv01, Dt12, Dp12, v0, g);
--
GitLab