format

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);