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Commit 5a73bd20 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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corrections gtest SetUp

parent 1eb40941
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......@@ -75,11 +75,11 @@ class ProcessorIMU_jacobians : public testing::Test
Eigen::Matrix<wolf::Scalar,10,1> Delta0;
Delta0 = Eigen::Matrix<wolf::Scalar,10,1>::Random();
Delta0.head<3>() = Delta0.head<3>()*100;
Delta0.segment<3>(3) = Delta0.segment<3>(3)*10;
Delta0.tail<3>() = Delta0.tail<3>()*10;
Eigen::Vector3s ang0, ang;
ang0 << 120.08*deg_to_rad, 12.36*deg_to_rad, 54.32*deg_to_rad;
Eigen::Map<Eigen::Quaternions> Delta0_quat(Delta0.data()+6);
Eigen::Map<Eigen::Quaternions> Delta0_quat(Delta0.data()+3);
Delta0_quat = v2q(ang0);
Delta0_quat.normalize();
ang = q2v(Delta0_quat);
......
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