From 026f4fe78c4bee0e2dd6f544a271a854691af063 Mon Sep 17 00:00:00 2001 From: Joan Sola <jsola@iri.upc.edu> Date: Thu, 16 Nov 2017 13:16:47 +0100 Subject: [PATCH] format --- src/test/gtest_IMU.cpp | 90 +++++++++++++++++++++--------------------- 1 file changed, 45 insertions(+), 45 deletions(-) diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp index 536b9e249..11aeca0ce 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 ); } -- GitLab