From a2dfcdefed2b45be0bb465dd5022f2f1ba492837 Mon Sep 17 00:00:00 2001 From: Dinesh Atchuthan <datchuth@laas.fr> Date: Tue, 29 Nov 2016 13:51:14 +0100 Subject: [PATCH] [WIP] gtest_processorIMU_jacobians - functions --- src/test/gtest_processorIMU_jacobians.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/test/gtest_processorIMU_jacobians.cpp b/src/test/gtest_processorIMU_jacobians.cpp index c6c0352b3..10ba339f7 100644 --- a/src/test/gtest_processorIMU_jacobians.cpp +++ b/src/test/gtest_processorIMU_jacobians.cpp @@ -37,6 +37,19 @@ class ProcessorIMU_jacobians : public testing::Test Eigen::Vector6s data_; struct IMU_jac_bias bias_jac; + 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); + } + + 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()); + 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() { wolf::Scalar deg_to_rad = M_PI/180.0; -- GitLab