From 5a73bd20fbfe6731c8dd85b04eac739887a52e8e Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Thu, 8 Dec 2016 17:51:31 +0100
Subject: [PATCH] corrections gtest SetUp
---
src/test/gtest_processorIMU_jacobians.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index 16ad78365..834d93b86 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -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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