gaussian_distribution_test.cc
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
18 
19 #include "gtest/gtest.h"
20 
21 namespace cartographer {
22 namespace kalman_filter {
23 namespace {
24 
25 TEST(GaussianDistributionTest, testConstructor) {
26  Eigen::Matrix2d covariance;
27  covariance << 1., 2., 3., 4.;
28  GaussianDistribution<double, 2> distribution(Eigen::Vector2d(0., 1.),
29  covariance);
30  EXPECT_NEAR(0., distribution.GetMean()[0], 1e-9);
31  EXPECT_NEAR(1., distribution.GetMean()[1], 1e-9);
32  EXPECT_NEAR(2., distribution.GetCovariance()(0, 1), 1e-9);
33 }
34 
35 } // namespace
36 } // namespace kalman_filter
37 } // namespace cartographer


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autogenerated on Mon Jun 10 2019 12:51:38