From 11839e3400f02a1591ee1fb460208142bbc3bd63 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 7 Dec 2016 12:08:54 +0100
Subject: [PATCH] added test dDv_dV
---
src/test/gtest_processorIMU_jacobians.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index e7ef03c23..32b1655f1 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -325,6 +325,18 @@ TEST_F(ProcessorIMU_jacobians, dDp_dV)
"\ndDp_dV_a - dDp_dV_ : \n" << deltas_jac.jacobian_delta_preint_.block(0,6,3,3) - dDp_dV << std::endl;
}
+TEST_F(ProcessorIMU_jacobians, dDv_dV)
+{
+ using namespace wolf;
+ Eigen::Matrix3s dDv_dV;
+
+ for(int i=0;i<3;i++)
+ dDv_dV.block<3,1>(0,i) = (deltas_jac.Delta_noisy_vect_(i+6).tail(3) - deltas_jac.Delta0_.tail(3))/Delta_noise(i+6);
+
+ EXPECT_TRUE((dDv_dV - deltas_jac.jacobian_delta_preint_.block(6,6,3,3)).isMuchSmallerThan(1,0.000001)) << "dDv_dV : \n" << dDv_dV << "\n deltas_jac.jacobian_delta_preint_.block(6,6,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(6,6,3,3) <<
+ "\ndDv_dV_a - dDv_dV_ : \n" << deltas_jac.jacobian_delta_preint_.block(6,6,3,3) - dDv_dV << std::endl;
+}
+
int main(int argc, char **argv)
{
using namespace wolf;
--
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