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fix test

release/4.3a0
Varun Agrawal 2022-05-06 16:45:37 -04:00
parent f0be857191
commit 8dbbb1fe1f
1 changed files with 15 additions and 15 deletions
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30
gtsam/navigation/tests/testCombinedImuFactor.cpp
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@ -230,21 +230,21 @@ TEST(CombinedImuFactor, CheckCovariance) {
actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
Eigen::Matrix<double, 15, 15> expected;
expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01;
expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, //
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0;
// regression
EXPECT(assert_equal(expected, actual.preintMeasCov()));