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Commit 991af777 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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...@@ -30,31 +30,29 @@ ...@@ -30,31 +30,29 @@
using namespace wolf; using namespace wolf;
// A new one of these is created for each test // A new one of these is created for each test
class ProcessorIMU_jacobians : public testing::Test class ProcessorIMU_jacobians_bias : public testing::Test
{ {
public: public:
TimeStamp t; TimeStamp t;
Eigen::Vector6s data_; Eigen::Vector6s data_;
struct IMU_jac_bias bias_jac; struct IMU_jac_bias bias_jac;
Eigen::Matrix<wolf::Scalar,9,1> Delta_noise;
Eigen::Matrix<wolf::Scalar,9,1> delta_noise;
void remapJacDeltas_quat0(IMU_jac_deltas& _jac_delta, Eigen::Map<Eigen::Quaternions>& _Dq0, Eigen::Map<Eigen::Quaternions>& _dq0){ void remapJacDeltas_quat0(IMU_jac_deltas& _jac_delta, Eigen::Map<Eigen::Quaternions>& _Dq0, Eigen::Map<Eigen::Quaternions>& _dq0){
new (&_Dq0) Eigen::Map<const Eigen::Quaternions>(_jac_delta.Delta0_.data() + 6); new (&_Dq0) Eigen::Map<const Eigen::Quaternions>(_jac_delta.Delta0_.data() + 6);
new (&_dq0) Eigen::Map<const Eigen::Quaternions>(_jac_delta.delta0_.data() + 6); new (&_dq0) Eigen::Map<const Eigen::Quaternions>(_jac_delta.delta0_.data() + 6);
} }
void remapJacDeltas_quat(IMU_jac_deltas& _jac_delta, Eigen::Map<Eigen::Quaternions>& _Dq, Eigen::Map<Eigen::Quaternions>& _dq, const int& place ){ void remapJacDeltas_quat(IMU_jac_deltas& _jac_delta, Eigen::Map<Eigen::Quaternions>& _Dq, Eigen::Map<Eigen::Quaternions>& _dq, const int& place ){
assert(place < _jac_delta.Delta_noisy_vect_.size()); assert(place < _jac_delta.Delta_noisy_vect_.size());
new (&_Dq) Eigen::Map<const Eigen::Quaternions>(_jac_delta.Delta_noisy_vect_(place).data() + 6); new (&_Dq) Eigen::Map<const Eigen::Quaternions>(_jac_delta.Delta_noisy_vect_(place).data() + 6);
new (&_dq) Eigen::Map<const Eigen::Quaternions>(_jac_delta.delta_noisy_vect_(place).data() + 6); new (&_dq) Eigen::Map<const Eigen::Quaternions>(_jac_delta.delta_noisy_vect_(place).data() + 6);
} }
virtual void SetUp() virtual void SetUp()
{ {
//SetUp for //SetUp for jacobians wrt bias testing
wolf::Scalar deg_to_rad = M_PI/180.0; wolf::Scalar deg_to_rad = M_PI/180.0;
data_ << 10,0.5,3, 100*deg_to_rad,110*deg_to_rad,30*deg_to_rad; data_ << 10,0.5,3, 100*deg_to_rad,110*deg_to_rad,30*deg_to_rad;
...@@ -101,7 +99,16 @@ class ProcessorIMU_jacobians : public testing::Test ...@@ -101,7 +99,16 @@ class ProcessorIMU_jacobians : public testing::Test
} }
}; };
TEST_F(ProcessorIMU_jacobians, Dummy)
// A new one of these is created for each test
class ProcessorIMU_jacobians_bias : public testing::Test
{
public:
TimeStamp t;
Eigen::Vector6s data_;
}
TEST_F(ProcessorIMU_jacobians_bias, Dummy)
{ {
ASSERT_TRUE(data_.size() == 6); ASSERT_TRUE(data_.size() == 6);
} }
......
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