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Commit 54d76b60 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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build gtest_frame_imu

parent 0e1c0f06
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...@@ -49,6 +49,10 @@ target_link_libraries(gtest_example ${PROJECT_NAME}) # ...@@ -49,6 +49,10 @@ target_link_libraries(gtest_example ${PROJECT_NAME}) #
wolf_add_gtest(gtest_frame_base gtest_frame_base.cpp) wolf_add_gtest(gtest_frame_base gtest_frame_base.cpp)
target_link_libraries(gtest_frame_base ${PROJECT_NAME}) target_link_libraries(gtest_frame_base ${PROJECT_NAME})
# FrameIMU class test
wolf_add_gtest(gtest_frame_imu gtest_frame_imu.cpp)
target_link_libraries(gtest_frame_imu ${PROJECT_NAME})
# LocalParametrizationXxx classes test # LocalParametrizationXxx classes test
wolf_add_gtest(gtest_local_param gtest_local_param.cpp) wolf_add_gtest(gtest_local_param gtest_local_param.cpp)
target_link_libraries(gtest_local_param ${PROJECT_NAME}) target_link_libraries(gtest_local_param ${PROJECT_NAME})
......
/*
* gtest_frame_imu.cpp
*
* Created on: Jan 05, 2017
* Author: Dinesh Atchuthan
*/
#include "utils_gtest.h"
#include "../logging.h"
#include "../frame_imu.h"
#include "../capture_motion.h"
#include <iostream>
using namespace Eigen;
using namespace std;
using namespace wolf;
TEST(FrameIMU, Getters)
{
TimeStamp ts(0.1);
Eigen::VectorXs state0(16);
state0 << 0,0,0, 0,0,0, 0,0,0,1, 0,0,.001, 0,0,.002;
FrameIMUPtr F = make_shared<FrameIMU>(KEY_FRAME, ts, state0);
Eigen::Vector3s acc_b = F->getAccBiasPtr()->getVector();
Eigen::Vector3s gyro_b = F->getGyroBiasPtr()->getVector();
ASSERT_TRUE((state0.segment(10,3) - acc_b).isMuchSmallerThan(1, wolf::Constants::EPS_SMALL));
ASSERT_TRUE((state0.tail(3) - gyro_b).isMuchSmallerThan(1, wolf::Constants::EPS_SMALL));
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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