From 5e352d15ec525c10d6bfbdff5ae9ad5818ac9784 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 17 Jan 2016 21:58:51 -0800 Subject: [PATCH] Fixed test --- gtsam/navigation/tests/testImuFactor.cpp | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp index 473cc9365..58552e213 100644 --- a/gtsam/navigation/tests/testImuFactor.cpp +++ b/gtsam/navigation/tests/testImuFactor.cpp @@ -142,22 +142,6 @@ TEST(ImuFactor, Accelerating) { Matrix9 estimatedCov = runner.estimateCovariance(T); EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1)); - - // Check G1 and G2 derivatives of pim.update - Matrix93 aG1, aG2; - boost::function f = boost::bind( - &PreintegrationBase::updatedDeltaXij, pim, _1, _2, T / 10, boost::none, - boost::none, boost::none); - const Vector3 measuredAcc = runner.actualSpecificForce(T); - const Vector3 measuredOmega = runner.actualAngularVelocity(T); - pim.updatedDeltaXij(measuredAcc, measuredOmega, T / 10, boost::none, aG1, - aG2); - EXPECT( - assert_equal(numericalDerivative21(f, measuredAcc, measuredOmega, 1e-7), - aG1, 1e-7)); - EXPECT( - assert_equal(numericalDerivative22(f, measuredAcc, measuredOmega, 1e-7), - aG2, 1e-7)); } /* ************************************************************************* */