From 768ba0759bfa1b54b34b39fc4bdc8002cc47d11b Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Fri, 9 Dec 2016 13:43:41 +0100
Subject: [PATCH] expect_true <- assert_true
---
src/test/gtest_processorIMU_jacobians.cpp | 32 +++++++++++------------
1 file changed, 16 insertions(+), 16 deletions(-)
diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp
index 21f46597a..353762138 100644
--- a/src/test/gtest_processorIMU_jacobians.cpp
+++ b/src/test/gtest_processorIMU_jacobians.cpp
@@ -226,7 +226,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dab)
for(int i=0;i<3;i++)
dDp_dab.block<3,1>(0,i) = (bias_jac.Deltas_noisy_vect_(i).head(3) - bias_jac.Delta0_.head(3))/ddelta_bias;
- EXPECT_TRUE((dDp_dab - bias_jac.dDp_dab_).isMuchSmallerThan(1,0.000001)) << "dDp_dab : \n" << dDp_dab << "\n bias_jac.dDp_dab_ :\n" << bias_jac.dDp_dab_ <<
+ ASSERT_TRUE((dDp_dab - bias_jac.dDp_dab_).isMuchSmallerThan(1,0.000001)) << "dDp_dab : \n" << dDp_dab << "\n bias_jac.dDp_dab_ :\n" << bias_jac.dDp_dab_ <<
"\ndDp_dab_a - dDp_dab_ : \n" << bias_jac.dDp_dab_ - dDp_dab << std::endl;
}
@@ -238,7 +238,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dab)
for(int i=0;i<3;i++)
dDv_dab.block<3,1>(0,i) = (bias_jac.Deltas_noisy_vect_(i).tail(3) - bias_jac.Delta0_.tail(3))/ddelta_bias;
- EXPECT_TRUE((dDv_dab - bias_jac.dDv_dab_).isMuchSmallerThan(1,0.000001)) << "dDv_dab : \n" << dDv_dab << "\n bias_jac.dDv_dab_ :\n" << bias_jac.dDv_dab_ <<
+ ASSERT_TRUE((dDv_dab - bias_jac.dDv_dab_).isMuchSmallerThan(1,0.000001)) << "dDv_dab : \n" << dDv_dab << "\n bias_jac.dDv_dab_ :\n" << bias_jac.dDv_dab_ <<
"\ndDv_dab_a - dDv_dab_ : \n" << bias_jac.dDv_dab_ - dDv_dab << std::endl;
}
@@ -250,7 +250,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dwb)
for(int i=0;i<3;i++)
dDp_dwb.block<3,1>(0,i) = (bias_jac.Deltas_noisy_vect_(i+3).head(3) - bias_jac.Delta0_.head(3))/ddelta_bias;
- EXPECT_TRUE((dDp_dwb - bias_jac.dDp_dwb_).isMuchSmallerThan(1,0.000001)) << "dDp_dwb : \n" << dDp_dwb << "\n bias_jac.dDp_dwb_ :\n" << bias_jac.dDp_dwb_ <<
+ ASSERT_TRUE((dDp_dwb - bias_jac.dDp_dwb_).isMuchSmallerThan(1,0.000001)) << "dDp_dwb : \n" << dDp_dwb << "\n bias_jac.dDp_dwb_ :\n" << bias_jac.dDp_dwb_ <<
"\ndDp_dwb_a - dDv_dab_ : \n" << bias_jac.dDp_dwb_ - dDp_dwb << std::endl;
}
@@ -262,7 +262,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dwb_)
for(int i=0;i<3;i++)
dDv_dwb.block<3,1>(0,i) = (bias_jac.Deltas_noisy_vect_(i+3).tail(3) - bias_jac.Delta0_.tail(3))/ddelta_bias;
- EXPECT_TRUE((dDv_dwb - bias_jac.dDv_dwb_).isMuchSmallerThan(1,0.000001)) << "dDv_dwb : \n" << dDv_dwb << "\n bias_jac.dDv_dwb_ :\n" << bias_jac.dDv_dwb_ <<
+ ASSERT_TRUE((dDv_dwb - bias_jac.dDv_dwb_).isMuchSmallerThan(1,0.000001)) << "dDv_dwb : \n" << dDv_dwb << "\n bias_jac.dDv_dwb_ :\n" << bias_jac.dDv_dwb_ <<
"\ndDv_dwb_a - dDv_dwb_ : \n" << bias_jac.dDv_dwb_ - dDv_dwb << std::endl;
}
@@ -278,7 +278,7 @@ TEST_F(ProcessorIMU_jacobians, dDq_dab)
dDq_dab.block<3,1>(0,i) = R2v( q_in_1.matrix().transpose() * q_in_2.matrix())/ddelta_bias;
}
- EXPECT_TRUE(dDq_dab.isZero(wolf::Constants::EPS)) << "\t\tdDq_dab_ jacobian is not Zero :" << dDq_dab << std::endl;
+ ASSERT_TRUE(dDq_dab.isZero(wolf::Constants::EPS)) << "\t\tdDq_dab_ jacobian is not Zero :" << dDq_dab << std::endl;
}
TEST_F(ProcessorIMU_jacobians, dDq_dwb_noise_1Em8_)
@@ -293,7 +293,7 @@ TEST_F(ProcessorIMU_jacobians, dDq_dwb_noise_1Em8_)
dDq_dwb.block<3,1>(0,i) = R2v( q_in_1.matrix().transpose() * q_in_2.matrix())/ddelta_bias;
}
- EXPECT_FALSE((dDq_dwb - bias_jac.dDq_dwb_).isMuchSmallerThan(1,0.000001)) << "dDq_dwb : \n" << dDq_dwb << "\n bias_jac.dDq_dwb_ :\n" << bias_jac.dDq_dwb_ <<
+ ASSERT_FALSE((dDq_dwb - bias_jac.dDq_dwb_).isMuchSmallerThan(1,0.000001)) << "dDq_dwb : \n" << dDq_dwb << "\n bias_jac.dDq_dwb_ :\n" << bias_jac.dDq_dwb_ <<
"\ndDq_dwb_a - dDq_dwb_ : \n" << bias_jac.dDq_dwb_ - dDq_dwb << "\n R1^T * R2 : \n" << q_in_1.matrix().transpose() * q_in_2.matrix() << std::endl;
}
@@ -309,7 +309,7 @@ TEST_F(ProcessorIMU_jacobians_Dq, dDq_dwb_noise_1Em4_precision_1Em3_)
dDq_dwb.block<3,1>(0,i) = R2v( q_in_1.matrix().transpose() * q_in_2.matrix())/ddelta_bias2;
}
- EXPECT_TRUE((dDq_dwb - bias_jac2.dDq_dwb_).isMuchSmallerThan(1,0.001)) << "dDq_dwb : \n" << dDq_dwb << "\n bias_jac2.dDq_dwb_ :\n" << bias_jac2.dDq_dwb_ <<
+ ASSERT_TRUE((dDq_dwb - bias_jac2.dDq_dwb_).isMuchSmallerThan(1,0.001)) << "dDq_dwb : \n" << dDq_dwb << "\n bias_jac2.dDq_dwb_ :\n" << bias_jac2.dDq_dwb_ <<
"\ndDq_dwb_a - dDq_dwb_ : \n" << bias_jac2.dDq_dwb_ - dDq_dwb << "\n R1^T * R2 : \n" << q_in_1.matrix().transpose() * q_in_2.matrix() << std::endl;
}
@@ -400,7 +400,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dP)
for(int i=0;i<3;i++)
dDp_dP.block<3,1>(0,i) = (deltas_jac.Delta_noisy_vect_(i).head(3) - deltas_jac.Delta0_.head(3))/Delta_noise(i);
- EXPECT_TRUE((dDp_dP - deltas_jac.jacobian_delta_preint_.block(0,0,3,3)).isMuchSmallerThan(1,0.000001)) << "dDp_dP : \n" << dDp_dP << "\n deltas_jac.jacobian_delta_preint_.block(0,0,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(0,0,3,3) <<
+ ASSERT_TRUE((dDp_dP - deltas_jac.jacobian_delta_preint_.block(0,0,3,3)).isMuchSmallerThan(1,0.000001)) << "dDp_dP : \n" << dDp_dP << "\n deltas_jac.jacobian_delta_preint_.block(0,0,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(0,0,3,3) <<
"\ndDp_dP_a - dDp_dP_ : \n" << deltas_jac.jacobian_delta_preint_.block(0,0,3,3) - dDp_dP << std::endl;
}
@@ -413,7 +413,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dV)
for(int i=0;i<3;i++)
dDp_dV.block<3,1>(0,i) = (deltas_jac.Delta_noisy_vect_(i+6).tail(3)*dt - deltas_jac.Delta0_.tail(3)*dt)/Delta_noise(i+6);
- EXPECT_TRUE((dDp_dV - deltas_jac.jacobian_delta_preint_.block(0,6,3,3)).isMuchSmallerThan(1,0.000001)) << "dDp_dV : \n" << dDp_dV << "\n deltas_jac.jacobian_delta_preint_.block(0,6,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(0,6,3,3) <<
+ ASSERT_TRUE((dDp_dV - deltas_jac.jacobian_delta_preint_.block(0,6,3,3)).isMuchSmallerThan(1,0.000001)) << "dDp_dV : \n" << dDp_dV << "\n deltas_jac.jacobian_delta_preint_.block(0,6,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(0,6,3,3) <<
"\ndDp_dV_a - dDp_dV_ : \n" << deltas_jac.jacobian_delta_preint_.block(0,6,3,3) - dDp_dV << std::endl;
}
@@ -430,7 +430,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dO)
dDp_dO.block<3,1>(0,i) = ((Dq_noisy.matrix() * deltas_jac.delta0_.head(3)) - (Dq0.matrix()* deltas_jac.delta0_.head(3)))/Delta_noise(i+3);
}
- EXPECT_TRUE((dDp_dO - deltas_jac.jacobian_delta_preint_.block(0,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDp_dO : \n" << dDp_dO << "\n deltas_jac.jacobian_delta_preint_.block(0,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(0,3,3,3) <<
+ ASSERT_TRUE((dDp_dO - deltas_jac.jacobian_delta_preint_.block(0,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDp_dO : \n" << dDp_dO << "\n deltas_jac.jacobian_delta_preint_.block(0,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(0,3,3,3) <<
"\ndDp_dO_a - dDp_dO_ : \n" << deltas_jac.jacobian_delta_preint_.block(0,3,3,3) - dDp_dO << std::endl;
}
@@ -443,7 +443,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dV)
for(int i=0;i<3;i++)
dDv_dV.block<3,1>(0,i) = (deltas_jac.Delta_noisy_vect_(i+6).tail(3) - deltas_jac.Delta0_.tail(3))/Delta_noise(i+6);
- EXPECT_TRUE((dDv_dV - deltas_jac.jacobian_delta_preint_.block(6,6,3,3)).isMuchSmallerThan(1,0.000001)) << "dDv_dV : \n" << dDv_dV << "\n deltas_jac.jacobian_delta_preint_.block(6,6,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(6,6,3,3) <<
+ ASSERT_TRUE((dDv_dV - deltas_jac.jacobian_delta_preint_.block(6,6,3,3)).isMuchSmallerThan(1,0.000001)) << "dDv_dV : \n" << dDv_dV << "\n deltas_jac.jacobian_delta_preint_.block(6,6,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(6,6,3,3) <<
"\ndDv_dV_a - dDv_dV_ : \n" << deltas_jac.jacobian_delta_preint_.block(6,6,3,3) - dDv_dV << std::endl;
}
@@ -460,7 +460,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dO)
dDv_dO.block<3,1>(0,i) = ((Dq_noisy.matrix() * deltas_jac.delta0_.tail(3)) - (Dq0.matrix()* deltas_jac.delta0_.tail(3)))/Delta_noise(i+3);
}
- EXPECT_TRUE((dDv_dO - deltas_jac.jacobian_delta_preint_.block(6,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDv_dO : \n" << dDv_dO << "\n deltas_jac.jacobian_delta_preint_.block(6,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(6,3,3,3) <<
+ ASSERT_TRUE((dDv_dO - deltas_jac.jacobian_delta_preint_.block(6,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDv_dO : \n" << dDv_dO << "\n deltas_jac.jacobian_delta_preint_.block(6,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(6,3,3,3) <<
"\ndDv_dO_a - dDv_dO_ : \n" << deltas_jac.jacobian_delta_preint_.block(6,3,3,3) - dDv_dO << std::endl;
}
@@ -480,7 +480,7 @@ TEST_F(ProcessorIMU_jacobians, dDo_dO)
dDo_dO.block<3,1>(0,i) = R2v( (Dq0.matrix() * dq0.matrix()).transpose() * (Dq_noisy.matrix() * dq0.matrix()) )/Delta_noise(i+3);
}
- EXPECT_TRUE((dDo_dO - deltas_jac.jacobian_delta_preint_.block(3,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDo_dO : \n" << dDo_dO << "\n deltas_jac.jacobian_delta_preint_.block(3,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(3,3,3,3) <<
+ ASSERT_TRUE((dDo_dO - deltas_jac.jacobian_delta_preint_.block(3,3,3,3)).isMuchSmallerThan(1,0.000001)) << "dDo_dO : \n" << dDo_dO << "\n deltas_jac.jacobian_delta_preint_.block(3,3,3,3) :\n" << deltas_jac.jacobian_delta_preint_.block(3,3,3,3) <<
"\ndDo_dO_a - dDo_dO_ : \n" << deltas_jac.jacobian_delta_preint_.block(3,3,3,3) - dDo_dO << std::endl;
}
@@ -496,7 +496,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dp)
for(int i=0;i<3;i++)
dDp_dp.block<3,1>(0,i) = ( (Dq0.matrix() * deltas_jac.delta_noisy_vect_(i).head(3)) - (Dq0.matrix() * deltas_jac.delta0_.head(3)) )/delta_noise(i);
- EXPECT_TRUE((dDp_dp - dDp_dp_a).isMuchSmallerThan(1,0.000001)) << "dDp_dp : \n" << dDp_dp << "\n dDp_dp_a :\n" << dDp_dp_a <<
+ ASSERT_TRUE((dDp_dp - dDp_dp_a).isMuchSmallerThan(1,0.000001)) << "dDp_dp : \n" << dDp_dp << "\n dDp_dp_a :\n" << dDp_dp_a <<
"\ndDp_dp_a - dDp_dp_ : \n" << dDp_dp_a - dDp_dp << std::endl;
}
@@ -515,7 +515,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dv)
for(int i=0;i<3;i++)
dDv_dv.block<3,1>(0,i) = ( (Dq0 * deltas_jac.delta_noisy_vect_(i+6).tail(3)) - (Dq0 * deltas_jac.delta0_.tail(3)) )/delta_noise(i+6);
- EXPECT_TRUE((dDv_dv - dDv_dv_a).isMuchSmallerThan(1,0.000001)) << "dDv_dv : \n" << dDv_dv << "\n dDv_dv_a :\n" << dDv_dv_a <<
+ ASSERT_TRUE((dDv_dv - dDv_dv_a).isMuchSmallerThan(1,0.000001)) << "dDv_dv : \n" << dDv_dv << "\n dDv_dv_a :\n" << dDv_dv_a <<
"\ndDv_dv_a - dDv_dv_ : \n" << dDv_dv_a - dDv_dv << std::endl;
}
@@ -536,7 +536,7 @@ TEST_F(ProcessorIMU_jacobians, dDo_do)
dDo_do.block<3,1>(0,i) = R2v( (Dq0.matrix() * dq0.matrix()).transpose() * (Dq0.matrix() * dq_noisy.matrix()) )/Delta_noise(i+3);
}
- EXPECT_TRUE((dDo_do - dDo_do_a).isMuchSmallerThan(1,0.000001)) << "dDo_do : \n" << dDo_do << "\n dDo_do_a :\n" << dDo_do_a <<
+ ASSERT_TRUE((dDo_do - dDo_do_a).isMuchSmallerThan(1,0.000001)) << "dDo_do : \n" << dDo_do << "\n dDo_do_a :\n" << dDo_do_a <<
"\ndDo_do_a - dDo_do_ : \n" << dDo_do_a - dDo_do << std::endl;
}
--
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