From 66aa1f1892c5ab34cd926255dd055e55a81649d1 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Tue, 29 Nov 2016 20:26:16 +0100
Subject: [PATCH] comments
---
src/test/gtest_processorIMU_jacobians.cpp | 16 +++++++++++++++-
1 file changed, 15 insertions(+), 1 deletion(-)
diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index 39dea2ee6..d0c54fa55 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -36,6 +36,8 @@ class ProcessorIMU_jacobians : public testing::Test
TimeStamp t;
Eigen::Vector6s data_;
struct IMU_jac_bias bias_jac;
+ Eigen::Matrix<wolf::Scalar,9,1> Delta_noise;
+ Eigen::Matrix<wolf::Scalar,9,1> delta_noise;
void remapJacDeltas_quat0(IMU_jac_deltas& _jac_delta, Eigen::Map<Eigen::Quaternions>& _Dq0, Eigen::Map<Eigen::Quaternions>& _dq0){
@@ -52,6 +54,7 @@ class ProcessorIMU_jacobians : public testing::Test
virtual void SetUp()
{
+ //SetUp for
wolf::Scalar deg_to_rad = M_PI/180.0;
data_ << 10,0.5,3, 100*deg_to_rad,110*deg_to_rad,30*deg_to_rad;
@@ -84,7 +87,18 @@ class ProcessorIMU_jacobians : public testing::Test
bias_jac = bias_jac_c;
}
- virtual void TearDown(){}
+ virtual void TearDown()
+ {
+ // code here will be called just after the test completes
+ // ok to through exceptions from here if need be
+ /*
+ You can do deallocation of resources in TearDown or the destructor routine.
+ However, if you want exception handling you must do it only in the TearDown code because throwing an exception
+ from the destructor results in undefined behavior.
+ The Google assertion macros may throw exceptions in platforms where they are enabled in future releases.
+ Therefore, it's a good idea to use assertion macros in the TearDown code for better maintenance.
+ */
+ }
};
TEST_F(ProcessorIMU_jacobians, Dummy)
--
GitLab