Test that was not passing now passes with new Eigen.

src/test/gtest_processorIMU_jacobians.cpp

@@ -288,13 +288,19 @@ TEST_F(ProcessorIMU_jacobians, dDq_dwb_noise_1Em8_)
     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;
     }
 
-    ASSERT_FALSE((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 << "\n R1^T * R2 : \n"  << q_in_1.matrix().transpose() * q_in_2.matrix() << std::endl;
+    ASSERT_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
+        << "\n R1^T * R2 : \n"  << q_in_1.matrix().transpose() * q_in_2.matrix()
+        << std::endl;
 }
 
 TEST_F(ProcessorIMU_jacobians_Dq, dDq_dwb_noise_1Em4_precision_1Em3_)
@@ -547,4 +553,4 @@ int main(int argc, char **argv)
 
      testing::InitGoogleTest(&argc, argv);
      return RUN_ALL_TESTS();
-}
+}
\ No newline at end of file