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Commit 75dadba5 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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added some tests

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src/test/gtest_IMU.cpp
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......@@ -814,6 +814,51 @@ TEST_F(Process_Constraint_IMU, MotionRandom_pqV_b__PQv_b) // F_ixed___e_stimated
}
TEST_F(Process_Constraint_IMU, MotionRandom_pqV_b__pQV_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
// ==================================== INITIAL CONDITIONS -- USER OPTIONS ======================================== //
// ================================================================================================================ //
//
// ---------- time
t0 = 0;
dt = 0.01;
num_integrations = 50;
// ---------- initial pose
p0 << 0,0,0;
q0.coeffs() << 0,0,0,1;
v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
a = Matrix<Scalar, 3, 50>::Random();
w = Matrix<Scalar, 3, 50>::Random();
// ---------- fix boundaries
p0_fixed = false;
q0_fixed = false;
v0_fixed = true;
p1_fixed = false;
q1_fixed = true;
v1_fixed = true;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
// ===================================== RUN ALL
string report = runAll(1);
// printAll(report);
assertAll();
}
TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ixed___e_stimated
{
......@@ -861,6 +906,235 @@ TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ix
}
TEST_F(Process_Constraint_IMU_ODO, MotionConstantRotation_PQV_b__PQV_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
// ==================================== INITIAL CONDITIONS -- USER OPTIONS ======================================== //
// ================================================================================================================ //
//
// ---------- time
t0 = 0;
dt = 0.01;
num_integrations = 50;
// ---------- initial pose
p0 << 0,0,0;
q0.coeffs() << 0,0,0,1;
v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
a = Vector3s( 0,0,0 );
w = Vector3s( 1,2,3 );
// ---------- fix boundaries
p0_fixed = true;
q0_fixed = true;
v0_fixed = true;
p1_fixed = true;
q1_fixed = true;
v1_fixed = true;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
// ===================================== RUN ALL
string report = runAll(1);
// printAll(report);
assertAll();
}
TEST_F(Process_Constraint_IMU_ODO, MotionConstantRotation_PQV_b__PQv_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
// ==================================== INITIAL CONDITIONS -- USER OPTIONS ======================================== //
// ================================================================================================================ //
//
// ---------- time
t0 = 0;
dt = 0.01;
num_integrations = 50;
// ---------- initial pose
p0 << 0,0,0;
q0.coeffs() << 0,0,0,1;
v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
a = Vector3s( 0,0,0 );
w = Vector3s( 1,2,3 );
// ---------- fix boundaries
p0_fixed = true;
q0_fixed = true;
v0_fixed = true;
p1_fixed = true;
q1_fixed = true;
v1_fixed = false;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
// ===================================== RUN ALL
string report = runAll(1);
// printAll(report);
assertAll();
}
TEST_F(Process_Constraint_IMU_ODO, MotionConstantRotation_PQV_b__Pqv_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
// ==================================== INITIAL CONDITIONS -- USER OPTIONS ======================================== //
// ================================================================================================================ //
//
// ---------- time
t0 = 0;
dt = 0.01;
num_integrations = 50;
// ---------- initial pose
p0 << 0,0,0;
q0.coeffs() << 0,0,0,1;
v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
a = Vector3s( 0,0,0 );
w = Vector3s( 1,2,3 );
// ---------- fix boundaries
p0_fixed = true;
q0_fixed = true;
v0_fixed = true;
p1_fixed = true;
q1_fixed = false;
v1_fixed = false;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
// ===================================== RUN ALL
string report = runAll(1);
// printAll(report);
assertAll();
}
TEST_F(Process_Constraint_IMU_ODO, MotionConstantRotation_PQV_b__pQv_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
// ==================================== INITIAL CONDITIONS -- USER OPTIONS ======================================== //
// ================================================================================================================ //
//
// ---------- time
t0 = 0;
dt = 0.01;
num_integrations = 50;
// ---------- initial pose
p0 << 0,0,0;
q0.coeffs() << 0,0,0,1;
v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
a = Vector3s( 0,0,0 );
w = Vector3s( 1,2,3 );
// ---------- fix boundaries
p0_fixed = true;
q0_fixed = true;
v0_fixed = true;
p1_fixed = false;
q1_fixed = true;
v1_fixed = false;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
// ===================================== RUN ALL
string report = runAll(1);
// printAll(report);
assertAll();
}
TEST_F(Process_Constraint_IMU_ODO, MotionConstantRotation_PQV_b__pqv_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
// ==================================== INITIAL CONDITIONS -- USER OPTIONS ======================================== //
// ================================================================================================================ //
//
// ---------- time
t0 = 0;
dt = 0.01;
num_integrations = 50;
// ---------- initial pose
p0 << 0,0,0;
q0.coeffs() << 0,0,0,1;
v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
a = Vector3s( 0,0,0 );
w = Vector3s( 1,2,3 );
// ---------- fix boundaries
p0_fixed = true;
q0_fixed = true;
v0_fixed = true;
p1_fixed = false;
q1_fixed = false;
v1_fixed = false;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
// ===================================== RUN ALL
string report = runAll(1);
// printAll(report);
assertAll();
}
TEST_F(Process_Constraint_IMU_ODO, MotionConstant_pqv_b__pqV_b) // F_ixed___e_stimated
{
......
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