From 8558780ef3766787e0261c21c9d69d21f176137d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Thu, 16 Nov 2017 00:03:10 +0100 Subject: [PATCH] Cosmetics --- src/test/gtest_IMU.cpp | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp index 484d2bf4b..405aaad9e 100644 --- a/src/test/gtest_IMU.cpp +++ b/src/test/gtest_IMU.cpp @@ -433,7 +433,7 @@ TEST_F(Process_Constraint_IMU, Var_B1_B2_Invar_P1_Q1_V1_P2_Q2_V2) // print(); - // ===================================== CHECK ALL (SEE RESULTS SECTION BELOW FOT THE MEANING OF ALL VARIABLES) + // ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES) // check delta and state integrals ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 ); @@ -503,7 +503,11 @@ TEST_F(Process_Constraint_IMU, Var_P1_Q1_V1_B1_B2_Invar_P2_Q2_V2) WOLF_TRACE(report); - // ===================================== CHECK ALL (SEE RESULTS SECTION BELOW FOT THE MEANING OF ALL VARIABLES) + // ===================================== PRINT RESULTS + // print(); + + + // ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES) // check delta and state integrals ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 ); @@ -525,9 +529,6 @@ TEST_F(Process_Constraint_IMU, Var_P1_Q1_V1_B1_B2_Invar_P2_Q2_V2) ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0, 1e-8 ); - // ===================================== PRINT RESULTS - // print(); - } @@ -579,7 +580,11 @@ TEST_F(Process_Constraint_IMU, Var_P1_Q1_B1_V2_B2_Invar_V1_P2_Q2) // PQv_B__pqV_ WOLF_TRACE(report); - // ===================================== CHECK ALL (SEE RESULTS SECTION BELOW FOT THE MEANING OF ALL VARIABLES) + // ===================================== PRINT RESULTS + // print(); + + + // ===================================== CHECK ALL (SEE CLASS DEFINITION FOR THE MEANING OF ALL VARIABLES) // check delta and state integrals ASSERT_MATRIX_APPROX(D_preint , D_preint_imu , 1e-8 ); @@ -600,13 +605,10 @@ TEST_F(Process_Constraint_IMU, Var_P1_Q1_B1_V2_B2_Invar_V1_P2_Q2) // PQv_B__pqV_ ASSERT_MATRIX_APPROX(x1_optim_imu, x1_exact , 1e-5 ); ASSERT_NEAR(x1_optim.segment(3,4).norm(), 1.0, 1e-8 ); - - // ===================================== PRINT RESULTS - // print(); - } + int main(int argc, char **argv) { testing::InitGoogleTest(&argc, argv); -- GitLab