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Commit 8ba0a274 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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bug of eigen .asDiagonal() and gtest assert

parent 5b6c57ef
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test/gtest_problem.cpp
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...@@ -183,8 +183,8 @@ TEST(Problem, SetOrigin_PO_2d) ...@@ -183,8 +183,8 @@ TEST(Problem, SetOrigin_PO_2d)
ASSERT_FALSE(fac->getFeatureOther()); ASSERT_FALSE(fac->getFeatureOther());
} }
auto x0_vector = prior.getVectorComposite().vector("PO"); auto x0_vector = prior.getVectorComposite().vector("PO");
auto P0_p = prior.at('P').getNoiseStd().cwiseAbs2().asDiagonal(); MatrixXd P0_p = prior.at('P').getNoiseStd().cwiseAbs2().asDiagonal();
auto P0_o = prior.at('O').getNoiseStd().cwiseAbs2().asDiagonal(); MatrixXd P0_o = prior.at('O').getNoiseStd().cwiseAbs2().asDiagonal();
// check that the Feature measurement and covariance are the ones provided // check that the Feature measurement and covariance are the ones provided
ASSERT_MATRIX_APPROX(x0_vector.head<2>(), fp->getMeasurement(), Constants::EPS_SMALL ); ASSERT_MATRIX_APPROX(x0_vector.head<2>(), fp->getMeasurement(), Constants::EPS_SMALL );
...@@ -247,8 +247,8 @@ TEST(Problem, SetOrigin_PO_3d) ...@@ -247,8 +247,8 @@ TEST(Problem, SetOrigin_PO_3d)
} }
auto x0_vector = prior.getVectorComposite().vector("PO"); auto x0_vector = prior.getVectorComposite().vector("PO");
auto P0_p = prior.at('P').getNoiseStd().cwiseAbs2().asDiagonal(); MatrixXd P0_p = prior.at('P').getNoiseStd().cwiseAbs2().asDiagonal();
auto P0_o = prior.at('O').getNoiseStd().cwiseAbs2().asDiagonal(); MatrixXd P0_o = prior.at('O').getNoiseStd().cwiseAbs2().asDiagonal();
// check that the Feature measurement and covariance are the ones provided // check that the Feature measurement and covariance are the ones provided
ASSERT_MATRIX_APPROX(x0_vector.head<3>(), fp->getMeasurement(), Constants::EPS_SMALL ); ASSERT_MATRIX_APPROX(x0_vector.head<3>(), fp->getMeasurement(), Constants::EPS_SMALL );
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