diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp
index 536b9e249ddcb29df8224e7838598946efdb5d33..11aeca0ce62d54e815cc497ebba6f3dbcfd7c3b3 100644
--- a/src/test/gtest_IMU.cpp
+++ b/src/test/gtest_IMU.cpp
@@ -454,23 +454,23 @@ TEST_F(Process_Constraint_IMU, Var_B1_B2_Invar_P1_Q1_V1_P2_Q2_V2)
// ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES)
// check delta and state integrals
- ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 );
- ASSERT_MATRIX_APPROX(D_corrected , D_corrected_imu , 1e-8 );
- ASSERT_MATRIX_APPROX(D_corrected_imu , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(D_corrected , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_corrected_imu, x1_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_corrected , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 );
+ ASSERT_MATRIX_APPROX(D_corrected , D_corrected_imu , 1e-8 );
+ ASSERT_MATRIX_APPROX(D_corrected_imu , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_corrected , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_corrected_imu , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_corrected , x1_exact , 1e-5 );
// check optimal solutions
- ASSERT_MATRIX_APPROX(x0_optim , x0 , 1e-5 );
- ASSERT_NEAR(x0_optim.segment(3,4).norm(), 1.0, 1e-8 );
- ASSERT_MATRIX_APPROX(bias_0 , bias_real , 1e-4 );
- ASSERT_MATRIX_APPROX(bias_1 , bias_real , 1e-4 );
- ASSERT_MATRIX_APPROX(D_optim , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_optim , x1_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(D_optim_imu , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_optim_imu, x1_exact , 1e-5 );
- ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0, 1e-8 );
+ ASSERT_MATRIX_APPROX(x0_optim , x0 , 1e-5 );
+ ASSERT_NEAR(x0_optim.segment(3,4).norm(), 1.0 , 1e-8 );
+ ASSERT_MATRIX_APPROX(bias_0 , bias_real , 1e-4 );
+ ASSERT_MATRIX_APPROX(bias_1 , bias_real , 1e-4 );
+ ASSERT_MATRIX_APPROX(D_optim , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_optim , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_optim_imu , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_optim_imu , x1_exact , 1e-5 );
+ ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0 , 1e-8 );
}
@@ -528,23 +528,23 @@ TEST_F(Process_Constraint_IMU, Var_P1_Q1_V1_B1_B2_Invar_P2_Q2_V2)
// ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES)
// check delta and state integrals
- ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 );
- ASSERT_MATRIX_APPROX(D_corrected , D_corrected_imu , 1e-8 );
- ASSERT_MATRIX_APPROX(D_corrected_imu , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(D_corrected , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_corrected_imu, x1_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_corrected , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 );
+ ASSERT_MATRIX_APPROX(D_corrected , D_corrected_imu , 1e-8 );
+ ASSERT_MATRIX_APPROX(D_corrected_imu , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_corrected , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_corrected_imu , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_corrected , x1_exact , 1e-5 );
// check optimal solutions
- ASSERT_MATRIX_APPROX(x0_optim , x0 , 1e-5 );
- ASSERT_NEAR(x0_optim.segment(3,4).norm(), 1.0, 1e-8 );
- ASSERT_MATRIX_APPROX(bias_0 , bias_real , 1e-4 );
- ASSERT_MATRIX_APPROX(bias_1 , bias_real , 1e-4 );
- ASSERT_MATRIX_APPROX(D_optim , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_optim , x1_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(D_optim_imu , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_optim_imu, x1_exact , 1e-5 );
- ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0, 1e-8 );
+ ASSERT_MATRIX_APPROX(x0_optim , x0 , 1e-5 );
+ ASSERT_NEAR(x0_optim.segment(3,4).norm(), 1.0 , 1e-8 );
+ ASSERT_MATRIX_APPROX(bias_0 , bias_real , 1e-4 );
+ ASSERT_MATRIX_APPROX(bias_1 , bias_real , 1e-4 );
+ ASSERT_MATRIX_APPROX(D_optim , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_optim , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_optim_imu , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_optim_imu , x1_exact , 1e-5 );
+ ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0 , 1e-8 );
}
@@ -605,23 +605,23 @@ TEST_F(Process_Constraint_IMU, Var_P1_Q1_B1_V2_B2_Invar_V1_P2_Q2) // PQv_B__pqV_
// ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES)
// check delta and state integrals
- ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 );
- ASSERT_MATRIX_APPROX(D_corrected , D_corrected_imu , 1e-8 );
- ASSERT_MATRIX_APPROX(D_corrected_imu , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(D_corrected , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_corrected_imu, x1_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_corrected , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 );
+ ASSERT_MATRIX_APPROX(D_corrected , D_corrected_imu , 1e-8 );
+ ASSERT_MATRIX_APPROX(D_corrected_imu , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_corrected , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_corrected_imu , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_corrected , x1_exact , 1e-5 );
// check optimal solutions
- ASSERT_MATRIX_APPROX(x0_optim , x0 , 1e-5 );
- ASSERT_NEAR(x0_optim.segment(3,4).norm(), 1.0, 1e-8 );
- ASSERT_MATRIX_APPROX(bias_0 , bias_real , 1e-4 );
- ASSERT_MATRIX_APPROX(bias_1 , bias_real , 1e-4 );
- ASSERT_MATRIX_APPROX(D_optim , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_optim , x1_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(D_optim_imu , D_exact , 1e-5 );
- ASSERT_MATRIX_APPROX(x1_optim_imu, x1_exact , 1e-5 );
- ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0, 1e-8 );
+ ASSERT_MATRIX_APPROX(x0_optim , x0 , 1e-5 );
+ ASSERT_NEAR(x0_optim.segment(3,4).norm(), 1.0 , 1e-8 );
+ ASSERT_MATRIX_APPROX(bias_0 , bias_real , 1e-4 );
+ ASSERT_MATRIX_APPROX(bias_1 , bias_real , 1e-4 );
+ ASSERT_MATRIX_APPROX(D_optim , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_optim , x1_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(D_optim_imu , D_exact , 1e-5 );
+ ASSERT_MATRIX_APPROX(x1_optim_imu , x1_exact , 1e-5 );
+ ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0 , 1e-8 );
}