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Commit a3d7b001 authored by Dinesh Atchuthan's avatar Dinesh Atchuthan
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test dDv_dab

parent 7f495afe
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...@@ -122,6 +122,18 @@ TEST_F(ProcessorIMU_jacobians_bias, dDp_dab) ...@@ -122,6 +122,18 @@ TEST_F(ProcessorIMU_jacobians_bias, dDp_dab)
"\ndDp_dab_a - dDp_dab_ : \n" << bias_jac.dDp_dab_ - dDp_dab << std::endl; "\ndDp_dab_a - dDp_dab_ : \n" << bias_jac.dDp_dab_ - dDp_dab << std::endl;
} }
TEST_F(ProcessorIMU_jacobians_bias, dDv_dab)
{
using namespace wolf;
Eigen::Matrix3s dDv_dab;
for(int i=0;i<3;i++)
dDv_dab.block<3,1>(0,i) = (bias_jac.Deltas_noisy_vect_(i).tail(3) - bias_jac.Delta0_.tail(3))/ddelta_bias;
EXPECT_TRUE((dDv_dab - bias_jac.dDv_dab_).isMuchSmallerThan(1,0.000001)) << "dDv_dab : \n" << dDv_dab << "\n bias_jac.dDv_dab_ :\n" << bias_jac.dDv_dab_ <<
"\ndDv_dab_a - dDv_dab_ : \n" << bias_jac.dDv_dab_ - dDv_dab << std::endl;
}
int main(int argc, char **argv) int main(int argc, char **argv)
{ {
using namespace wolf; using namespace wolf;
......
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