diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp index 2e91a380d0ea1f6fd6179eafe7328f141e950010..2327c52066040daed15170f07a50f555fb868890 100644 --- a/src/test/gtest_processorIMU_jacobians.cpp +++ b/src/test/gtest_processorIMU_jacobians.cpp @@ -134,6 +134,18 @@ TEST_F(ProcessorIMU_jacobians_bias, dDv_dab) "\ndDv_dab_a - dDv_dab_ : \n" << bias_jac.dDv_dab_ - dDv_dab << std::endl; } +TEST_F(ProcessorIMU_jacobians_bias, dDp_dwb) +{ + using namespace wolf; + Eigen::Matrix3s 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_ << + "\ndDp_dwb_a - dDv_dab_ : \n" << bias_jac.dDp_dwb_ - dDp_dwb << std::endl; +} + int main(int argc, char **argv) { using namespace wolf;