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Fix test.

This commit is contained in:
Vladyslav Usenko 2020-06-24 23:08:45 +02:00
parent 6642c98a69
commit dd44fdab74
2 changed files with 6 additions and 4 deletions
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8
test/src/test_spline_opt.cpp
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@ -52,6 +52,7 @@ TEST(SplineOpt, SplineOptTest) {
spline_opt.resetCalib(0, {}); spline_opt.resetCalib(0, {});
spline_opt.initSpline(gt_spline); spline_opt.initSpline(gt_spline);
spline_opt.setG(g + Eigen::Vector3d::Random() / 10);
spline_opt.init(); spline_opt.init();
double error; double error;
@ -84,8 +85,8 @@ TEST(SplineOpt, SplineOptTest) {
Eigen::Vector3d pos_gt = pose_gt.translation(); Eigen::Vector3d pos_gt = pose_gt.translation();
Eigen::Vector3d pos = pose.translation(); Eigen::Vector3d pos = pose.translation();
Eigen::Vector4d quat_gt = pose_gt.unit_quaternion().coeffs(); Eigen::Quaterniond quat_gt = pose_gt.unit_quaternion();
Eigen::Vector4d quat = pose.unit_quaternion().coeffs(); Eigen::Quaterniond quat = pose.unit_quaternion();
Eigen::Vector3d accel_gt = gt_spline.transAccelWorld(t_ns); Eigen::Vector3d accel_gt = gt_spline.transAccelWorld(t_ns);
Eigen::Vector3d accel = spline_opt.getSpline().transAccelWorld(t_ns); Eigen::Vector3d accel = spline_opt.getSpline().transAccelWorld(t_ns);
@ -95,7 +96,8 @@ TEST(SplineOpt, SplineOptTest) {
ASSERT_TRUE(pos_gt.isApprox(pos)) << "pos_gt and pos are not the same"; ASSERT_TRUE(pos_gt.isApprox(pos)) << "pos_gt and pos are not the same";
ASSERT_TRUE(quat_gt.isApprox(quat)) << "quat_gt and quat are not the same"; ASSERT_TRUE(quat_gt.angularDistance(quat) < 1e-2)
<< "quat_gt and quat are not the same";
ASSERT_TRUE(accel_gt.isApprox(accel)) ASSERT_TRUE(accel_gt.isApprox(accel))
<< "accel_gt and accel are not the same"; << "accel_gt and accel are not the same";

2
thirdparty/basalt-headers vendored

@ -1 +1 @@
Subproject commit d6a1bc24376a67b11bd13e44cf75c1e4351f359a Subproject commit 56357bb4d347bedc37a47dae7d0294194b97a11a