All tests pass now !
dellaert
parent
323ed5220b
commit
77d8e7d0bd
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@ -78,7 +78,7 @@ Rot3 updatePreintegratedMeasurementsRot(const Vector3 deltaPij_old,
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deltaVij_old, deltaRij_old, bias_old, correctedAcc, correctedOmega,
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deltaT, use2ndOrderIntegration);
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return Rot3::Expmap(result.segment<3>(6));
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return Rot3::Expmap(result.segment < 3 > (6));
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}
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// Auxiliary functions to test preintegrated Jacobians
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@ -87,9 +87,8 @@ Rot3 updatePreintegratedMeasurementsRot(const Vector3 deltaPij_old,
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CombinedImuFactor::CombinedPreintegratedMeasurements evaluatePreintegratedMeasurements(
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const imuBias::ConstantBias& bias, const list<Vector3>& measuredAccs,
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const list<Vector3>& measuredOmegas, const list<double>& deltaTs) {
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CombinedImuFactor::CombinedPreintegratedMeasurements result(bias,
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I_3x3, I_3x3, I_3x3,
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I_3x3, I_3x3, I_6x6, false);
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CombinedImuFactor::CombinedPreintegratedMeasurements result(bias, I_3x3,
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I_3x3, I_3x3, I_3x3, I_3x3, I_6x6);
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list<Vector3>::const_iterator itAcc = measuredAccs.begin();
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list<Vector3>::const_iterator itOmega = measuredOmegas.begin();
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@ -136,13 +135,11 @@ TEST( CombinedImuFactor, PreintegratedMeasurements ) {
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double tol = 1e-6;
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// Actual preintegrated values
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ImuFactor::PreintegratedMeasurements expected1(bias, Z_3x3,
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Z_3x3, Z_3x3);
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ImuFactor::PreintegratedMeasurements expected1(bias, Z_3x3, Z_3x3, Z_3x3);
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expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias,
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Z_3x3, Z_3x3, Z_3x3, Z_3x3,
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Z_3x3, Z_6x6);
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CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias, Z_3x3,
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Z_3x3, Z_3x3, Z_3x3, Z_3x3, Z_6x6);
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actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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@ -187,7 +184,8 @@ TEST( CombinedImuFactor, ErrorWithBiases ) {
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combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// Create factor
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ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim, gravity, omegaCoriolis);
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ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim, gravity,
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omegaCoriolis);
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noiseModel::Gaussian::shared_ptr Combinedmodel =
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noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
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@ -195,7 +193,8 @@ TEST( CombinedImuFactor, ErrorWithBiases ) {
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combined_pim, gravity, omegaCoriolis);
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Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
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Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2);
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Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
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bias2);
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EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
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// Expected Jacobians
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@ -238,7 +237,7 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) {
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}
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// Actual preintegrated values
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CombinedImuFactor::CombinedPreintegratedMeasurements preintegrated =
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CombinedImuFactor::CombinedPreintegratedMeasurements pim =
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evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas,
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deltaTs);
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@ -265,16 +264,12 @@ TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements ) {
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Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3);
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// Compare Jacobians
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EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc()));
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EXPECT(
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assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega()));
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EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc()));
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EXPECT(
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assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega()));
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EXPECT(assert_equal(expectedDelPdelBiasAcc, pim.delPdelBiasAcc()));
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EXPECT(assert_equal(expectedDelPdelBiasOmega, pim.delPdelBiasOmega()));
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EXPECT(assert_equal(expectedDelVdelBiasAcc, pim.delVdelBiasAcc()));
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EXPECT(assert_equal(expectedDelVdelBiasOmega, pim.delVdelBiasOmega()));
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EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3, 3)));
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EXPECT(
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assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega(),
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1e-3)); // 1e-3 needs to be added only when using quaternions for rotations
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EXPECT(assert_equal(expectedDelRdelBiasOmega, pim.delRdelBiasOmega(), 1e-3)); // 1e-3 needs to be added only when using quaternions for rotations
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}
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/* ************************************************************************* */
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@ -293,23 +288,22 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) {
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double deltaT = 0.001;
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CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3,
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I_3x3, I_3x3, 2 * I_3x3, I_6x6, true);
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I_3x3, I_3x3, 2 * I_3x3, I_6x6);
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for (int i = 0; i < 1000; ++i)
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pim.integrateMeasurement(measuredAcc, measuredOmega,
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deltaT);
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pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// Create factor
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noiseModel::Gaussian::shared_ptr combinedmodel =
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noiseModel::Gaussian::Covariance(pim.preintMeasCov());
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CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
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pim, gravity, omegaCoriolis);
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CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim,
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gravity, omegaCoriolis);
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// Predict
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Pose3 x1;
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Vector3 v1(0, 0.0, 0.0);
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PoseVelocityBias poseVelocityBias = pim.predict(x1, v1,
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bias, gravity, omegaCoriolis);
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PoseVelocityBias poseVelocityBias = pim.predict(x1, v1, bias, gravity,
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omegaCoriolis);
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Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
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Vector3 expectedVelocity;
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expectedVelocity << 0, 1, 0;
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@ -322,7 +316,7 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) {
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TEST(CombinedImuFactor, PredictRotation) {
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imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
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CombinedImuFactor::CombinedPreintegratedMeasurements pim(bias, I_3x3, I_3x3,
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I_3x3, I_3x3, 2 * I_3x3, I_6x6, true);
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I_3x3, I_3x3, 2 * I_3x3, I_6x6);
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Vector3 measuredAcc;
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measuredAcc << 0, 0, -9.81;
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Vector3 gravity;
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@ -335,8 +329,8 @@ TEST(CombinedImuFactor, PredictRotation) {
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double tol = 1e-4;
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for (int i = 0; i < 1000; ++i)
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pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
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pim, gravity, omegaCoriolis);
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CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim,
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gravity, omegaCoriolis);
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// Predict
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Pose3 x(Rot3().ypr(0, 0, 0), Point3(0, 0, 0)), x2;
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@ -366,8 +360,8 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) {
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Vector3(M_PI / 100.0, M_PI / 300.0, 2 * M_PI / 100.0));
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deltaTs.push_back(0.01);
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}
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// Actual preintegrated values
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CombinedImuFactor::CombinedPreintegratedMeasurements preintegrated =
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// Actual pim values
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CombinedImuFactor::CombinedPreintegratedMeasurements pim =
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evaluatePreintegratedMeasurements(bias_old, measuredAccs, measuredOmegas,
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deltaTs);
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@ -376,14 +370,14 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) {
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const Vector3 newMeasuredAcc = Vector3(0.1, 0.0, 0.0);
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const Vector3 newMeasuredOmega = Vector3(M_PI / 100.0, 0.0, 0.0);
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const double newDeltaT = 0.01;
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const Rot3 deltaRij_old = preintegrated.deltaRij(); // before adding new measurement
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const Vector3 deltaVij_old = preintegrated.deltaVij(); // before adding new measurement
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const Vector3 deltaPij_old = preintegrated.deltaPij(); // before adding new measurement
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const Rot3 deltaRij_old = pim.deltaRij(); // before adding new measurement
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const Vector3 deltaVij_old = pim.deltaVij(); // before adding new measurement
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const Vector3 deltaPij_old = pim.deltaPij(); // before adding new measurement
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Matrix oldPreintCovariance = preintegrated.preintMeasCov();
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Matrix oldPreintCovariance = pim.preintMeasCov();
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Matrix Factual, Gactual;
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preintegrated.integrateMeasurement(newMeasuredAcc, newMeasuredOmega,
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pim.integrateMeasurement(newMeasuredAcc, newMeasuredOmega,
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newDeltaT, Factual, Gactual);
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bool use2ndOrderIntegration = false;
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@ -438,7 +432,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) {
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Matrix Fexpected(15, 15);
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Fexpected << df_dpos, df_dvel, df_dangle, df_dbias;
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EXPECT(assert_equal(Fexpected, Factual));
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EXPECT(assert_equal(Fexpected, Factual,1e-5));
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//////////////////////////////////////////////////////////////////////////////////////////////
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// COMPUTE NUMERICAL DERIVATIVES FOR G
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@ -496,7 +490,7 @@ TEST( CombinedImuFactor, JacobianPreintegratedCovariancePropagation ) {
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Matrix newPreintCovarianceExpected = Factual * oldPreintCovariance
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* Factual.transpose() + (1 / newDeltaT) * Gactual * Gactual.transpose();
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Matrix newPreintCovarianceActual = preintegrated.preintMeasCov();
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Matrix newPreintCovarianceActual = pim.preintMeasCov();
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EXPECT(assert_equal(newPreintCovarianceExpected, newPreintCovarianceActual));
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}
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