From 3ef589baf2162854a380346751cae521444c9885 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 7 Dec 2016 12:10:01 +0100
Subject: [PATCH] comments added (eq.)
---
src/test/gtest_processorIMU_jacobians.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index 32b1655f1..22ad93b6e 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -306,6 +306,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dP)
using namespace wolf;
Eigen::Matrix3s dDp_dP;
+ //dDp_dPx = ((P + dPx) - P)/dPx
for(int i=0;i<3;i++)
dDp_dP.block<3,1>(0,i) = (deltas_jac.Delta_noisy_vect_(i).head(3) - deltas_jac.Delta0_.head(3))/Delta_noise(i);
@@ -318,6 +319,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dV)
using namespace wolf;
Eigen::Matrix3s dDp_dV;
+ //Dp_dVx = ((V + dVx)*dt - V*dt)/dVx
for(int i=0;i<3;i++)
dDp_dV.block<3,1>(0,i) = (deltas_jac.Delta_noisy_vect_(i+6).tail(3)*dt - deltas_jac.Delta0_.tail(3)*dt)/Delta_noise(i+6);
@@ -330,6 +332,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dV)
using namespace wolf;
Eigen::Matrix3s dDv_dV;
+ //dDv_dVx = ((V + dVx) - V)/dVx
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);
--
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