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Commit 21a601e8 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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add test dDo_dO

parent f4ba8188
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...@@ -374,6 +374,26 @@ TEST_F(ProcessorIMU_jacobians, dDv_dO) ...@@ -374,6 +374,26 @@ TEST_F(ProcessorIMU_jacobians, dDv_dO)
"\ndDv_dO_a - dDv_dO_ : \n" << deltas_jac.jacobian_delta_preint_.block(6,3,3,3) - dDv_dO << std::endl; "\ndDv_dO_a - dDv_dO_ : \n" << deltas_jac.jacobian_delta_preint_.block(6,3,3,3) - dDv_dO << std::endl;
} }
//dDo_dP = dDo_dV = [0, 0, 0]
TEST_F(ProcessorIMU_jacobians, dDo_dO)
{
using namespace wolf;
Eigen::Map<Eigen::Quaternions> Dq0(NULL), dq0(NULL), Dq_noisy(NULL), dq_noisy(NULL);
Eigen::Matrix3s dDo_dO;
//dDo_dOx = log( (dR(Theta) * dr(theta)).transpose() * (dR(Theta)*exp(dThetax,0,0)) * dr(theta) )/dThetax
remapJacDeltas_quat0(deltas_jac, Dq0, dq0);
for(int i=0;i<3;i++){
remapJacDeltas_quat(deltas_jac, Dq_noisy, dq_noisy, i+3);
dDo_dO.block<3,1>(0,i) = R2v( (Dq0.matrix() * dq0.matrix()).transpose() * (Dq_noisy.matrix() * dq0.matrix()) )/Delta_noise(i+3);
}
EXPECT_TRUE((dDo_dO - deltas_jac.jacobian_delta_preint_.block(3,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDo_dO : \n" << dDo_dO << "\n deltas_jac.jacobian_delta_preint_.block(3,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(3,3,3,3) <<
"\ndDo_dO_a - dDo_dO_ : \n" << deltas_jac.jacobian_delta_preint_.block(3,3,3,3) - dDo_dO << std::endl;
}
TEST_F(ProcessorIMU_jacobians, dDp_dp) TEST_F(ProcessorIMU_jacobians, dDp_dp)
{ {
using namespace wolf; using namespace wolf;
......
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