From 7cf005e3028fda8238950186e41ef72c1d28fb65 Mon Sep 17 00:00:00 2001 From: Dinesh Atchuthan <datchuth@laas.fr> Date: Wed, 30 Nov 2016 12:12:19 +0100 Subject: [PATCH] test dDq_dwb --- src/test/gtest_processorIMU_jacobians.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp index 7ec522d9c..0dc403c9c 100644 --- a/src/test/gtest_processorIMU_jacobians.cpp +++ b/src/test/gtest_processorIMU_jacobians.cpp @@ -173,6 +173,23 @@ TEST_F(ProcessorIMU_jacobians_bias, dDq_dab) EXPECT_TRUE(dDq_dab.isZero(wolf::Constants::EPS)) << "\t\tdDq_dab_ jacobian is not Zero :" << dDq_dab << std::endl; } +TEST_F(ProcessorIMU_jacobians_bias, dDq_dwb) +{ + using namespace wolf; + Eigen::Map<Eigen::Quaternions> q_in_1(NULL), q_in_2(NULL); + Eigen::Matrix3s dDq_dwb; + + new (&q_in_1) Eigen::Map<Eigen::Quaternions>(bias_jac.Delta0_.data() + 3); + for(int i=0;i<3;i++){ + new (&q_in_2) Eigen::Map<Eigen::Quaternions>(bias_jac.Deltas_noisy_vect_(i+3).data() + 3); + dDq_dwb.block<3,1>(0,i) = R2v( q_in_1.matrix().transpose() * q_in_2.matrix())/ddelta_bias; + } + + EXPECT_TRUE((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 << std::endl; +} + + int main(int argc, char **argv) { using namespace wolf; -- GitLab