From c524e392526d700caedfa207c084ff67fb520186 Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Thu, 15 Dec 2016 11:44:22 +0100
Subject: [PATCH] small corrections
---
src/test/gtest_constraint_imu.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/test/gtest_constraint_imu.cpp b/src/test/gtest_constraint_imu.cpp
index be9c91a23..933c19b9c 100644
--- a/src/test/gtest_constraint_imu.cpp
+++ b/src/test/gtest_constraint_imu.cpp
@@ -44,7 +44,7 @@ class ConstraintIMU_testBase : public testing::Test
// Time and data variables
TimeStamp t;
Eigen::Vector6s data_;
-
+ state_vec.resize(16);
t.set(0);
// Set the origin
@@ -89,7 +89,7 @@ class ConstraintIMU_testBase : public testing::Test
};
-TEST_F(ConstraintIMU_testBase, constructors)
+TEST_F(ConstraintIMU_testBase, constructorIMU)
{
using namespace wolf;
@@ -97,9 +97,9 @@ TEST_F(ConstraintIMU_testBase, constructors)
ts = 0.1;
state_vec << 0.01,0,0, 0,0,0,1, 0.2,0,0, 0,0,0, 0,0,0;
last_frame = std::make_shared<FrameIMU>(KEY_FRAME, ts, state_vec);
-
//create a feature
- delta_preint_cov = Eigen::MatrixXs::Random(9,9);
+ delta_preint_cov = Eigen::MatrixXs::Identity(9,9);
+ delta_preint.resize(10);
delta_preint << 0.01,0,0.049, 0,0,0,1, 0.2,0,0.98;
dD_db_jacobians = Eigen::Matrix<wolf::Scalar,9,6>::Random();
feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, imu_ptr, dD_db_jacobians);
--
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