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Commit 768ba075 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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expect_true <- assert_true

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src/test/gtest_processorIMU_jacobians.cpp
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...@@ -226,7 +226,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dab) ...@@ -226,7 +226,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dab)
for(int i=0;i<3;i++) 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; 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; "\ndDp_dab_a - dDp_dab_ : \n" << bias_jac.dDp_dab_ - dDp_dab << std::endl;
} }
...@@ -238,7 +238,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dab) ...@@ -238,7 +238,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dab)
for(int i=0;i<3;i++) 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; 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; "\ndDv_dab_a - dDv_dab_ : \n" << bias_jac.dDv_dab_ - dDv_dab << std::endl;
} }
...@@ -250,7 +250,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dwb) ...@@ -250,7 +250,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dwb)
for(int i=0;i<3;i++) 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; 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; "\ndDp_dwb_a - dDv_dab_ : \n" << bias_jac.dDp_dwb_ - dDp_dwb << std::endl;
} }
...@@ -262,7 +262,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dwb_) ...@@ -262,7 +262,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dwb_)
for(int i=0;i<3;i++) 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; 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; "\ndDv_dwb_a - dDv_dwb_ : \n" << bias_jac.dDv_dwb_ - dDv_dwb << std::endl;
} }
...@@ -278,7 +278,7 @@ TEST_F(ProcessorIMU_jacobians, dDq_dab) ...@@ -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; 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_) TEST_F(ProcessorIMU_jacobians, dDq_dwb_noise_1Em8_)
...@@ -293,7 +293,7 @@ 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; 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; "\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_) ...@@ -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; 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; "\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) ...@@ -400,7 +400,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dP)
for(int i=0;i<3;i++) 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); 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; "\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) ...@@ -413,7 +413,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dV)
for(int i=0;i<3;i++) 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); 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; "\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) ...@@ -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); 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; "\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) ...@@ -443,7 +443,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dV)
for(int i=0;i<3;i++) 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); 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; "\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) ...@@ -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); 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; "\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) ...@@ -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); 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; "\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) ...@@ -496,7 +496,7 @@ TEST_F(ProcessorIMU_jacobians, dDp_dp)
for(int i=0;i<3;i++) 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); 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; "\ndDp_dp_a - dDp_dp_ : \n" << dDp_dp_a - dDp_dp << std::endl;
} }
...@@ -515,7 +515,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dv) ...@@ -515,7 +515,7 @@ TEST_F(ProcessorIMU_jacobians, dDv_dv)
for(int i=0;i<3;i++) 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); 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; "\ndDv_dv_a - dDv_dv_ : \n" << dDv_dv_a - dDv_dv << std::endl;
} }
...@@ -536,7 +536,7 @@ TEST_F(ProcessorIMU_jacobians, dDo_do) ...@@ -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); 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; "\ndDo_do_a - dDo_do_ : \n" << dDo_do_a - dDo_do << std::endl;
} }
......
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