diff --git a/src/test/gtest_IMU.cpp b/src/test/gtest_IMU.cpp
index b9cc7060a9fe60c9e066c95008e887bb10e6bffa..144ef36672625c260c7e9657d520f5add3962fd3 100644
--- a/src/test/gtest_IMU.cpp
+++ b/src/test/gtest_IMU.cpp
@@ -579,7 +579,7 @@ TEST_F(Process_Constraint_IMU, MotionConstant_PQV_b__PQV_b) // F_ixed___e_stimat
}
-TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ixed___e_stimated
+TEST_F(Process_Constraint_IMU, MotionConstant_pqv_b__PQV_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
@@ -592,9 +592,9 @@ TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ix
num_integrations = 50;
// ---------- initial pose
- p0 << 3,2,1;
- q0.coeffs() << 0.5,0.5,0.5,.5;
- v0 << 1,2,3;
+ p0 << 0,0,0;
+ q0.coeffs() << 0,0,0,1;
+ v0 << 0,0,0;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
@@ -605,9 +605,9 @@ TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ix
w = Vector3s( 1,2,3 );
// ---------- fix boundaries
- p0_fixed = true;
- q0_fixed = true;
- v0_fixed = true;
+ p0_fixed = false;
+ q0_fixed = false;
+ v0_fixed = false;
p1_fixed = true;
q1_fixed = true;
v1_fixed = true;
@@ -619,14 +619,14 @@ TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ix
// ===================================== RUN ALL
string report = runAll(1);
-// printAll(report);
+ // printAll(report);
assertAll();
}
-TEST_F(Process_Constraint_IMU, MotionConstant_pqv_b__PQV_b) // F_ixed___e_stimated
+TEST_F(Process_Constraint_IMU, MotionConstant_pqV_b__PQv_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
@@ -654,10 +654,10 @@ TEST_F(Process_Constraint_IMU, MotionConstant_pqv_b__PQV_b) // F_ixed___e_stimat
// ---------- fix boundaries
p0_fixed = false;
q0_fixed = false;
- v0_fixed = false;
+ v0_fixed = true;
p1_fixed = true;
q1_fixed = true;
- v1_fixed = true;
+ v1_fixed = false;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
@@ -673,7 +673,7 @@ TEST_F(Process_Constraint_IMU, MotionConstant_pqv_b__PQV_b) // F_ixed___e_stimat
}
-TEST_F(Process_Constraint_IMU, MotionConstant_pqV_b__PQv_b) // F_ixed___e_stimated
+TEST_F(Process_Constraint_IMU, MotionRandom_PQV_b__PQV_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
@@ -695,16 +695,16 @@ TEST_F(Process_Constraint_IMU, MotionConstant_pqV_b__PQv_b) // F_ixed___e_stimat
bias_preint = -bias_real;
// ---------- motion params
- a = Vector3s( 1,2,3 );
- w = Vector3s( 1,2,3 );
+ a = Matrix<Scalar, 3, 50>::Random();
+ w = Matrix<Scalar, 3, 50>::Random();
// ---------- fix boundaries
- p0_fixed = false;
- q0_fixed = false;
+ p0_fixed = true;
+ q0_fixed = true;
v0_fixed = true;
p1_fixed = true;
q1_fixed = true;
- v1_fixed = false;
+ v1_fixed = true;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
@@ -713,14 +713,14 @@ TEST_F(Process_Constraint_IMU, MotionConstant_pqV_b__PQv_b) // F_ixed___e_stimat
// ===================================== RUN ALL
string report = runAll(1);
- // printAll(report);
+// printAll(report);
assertAll();
}
-TEST_F(Process_Constraint_IMU, MotionRandom_PQV_b__PQV_b) // F_ixed___e_stimated
+TEST_F(Process_Constraint_IMU, MotionRandom_pqV_b__PQv_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
@@ -746,12 +746,12 @@ TEST_F(Process_Constraint_IMU, MotionRandom_PQV_b__PQV_b) // F_ixed___e_stimated
w = Matrix<Scalar, 3, 50>::Random();
// ---------- fix boundaries
- p0_fixed = true;
- q0_fixed = true;
+ p0_fixed = false;
+ q0_fixed = false;
v0_fixed = true;
p1_fixed = true;
q1_fixed = true;
- v1_fixed = true;
+ v1_fixed = false;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //
@@ -767,7 +767,7 @@ TEST_F(Process_Constraint_IMU, MotionRandom_PQV_b__PQV_b) // F_ixed___e_stimated
}
-TEST_F(Process_Constraint_IMU, MotionRandom_pqV_b__PQv_b) // F_ixed___e_stimated
+TEST_F(Process_Constraint_IMU, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ixed___e_stimated
{
// ================================================================================================================ //
@@ -780,25 +780,25 @@ TEST_F(Process_Constraint_IMU, MotionRandom_pqV_b__PQv_b) // F_ixed___e_stimated
num_integrations = 50;
// ---------- initial pose
- p0 << 0,0,0;
- q0.coeffs() << 0,0,0,1;
- v0 << 0,0,0;
+ p0 << 3,2,1;
+ q0.coeffs() << 0.5,0.5,0.5,.5;
+ v0 << 1,2,3;
// ---------- bias
bias_real << .001, .002, .003, -.001, -.002, -.003;
bias_preint = -bias_real;
// ---------- motion params
- a = Matrix<Scalar, 3, 50>::Random();
- w = Matrix<Scalar, 3, 50>::Random();
+ a = Vector3s( 1,2,3 );
+ w = Vector3s( 1,2,3 );
// ---------- fix boundaries
- p0_fixed = false;
- q0_fixed = false;
+ p0_fixed = true;
+ q0_fixed = true;
v0_fixed = true;
p1_fixed = true;
q1_fixed = true;
- v1_fixed = false;
+ v1_fixed = true;
//
// ===================================== INITIAL CONDITIONS -- USER INPUT ENDS HERE =============================== //
// ================================================================================================================ //