test_imu_measurement_model_gravity.cpp

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/*
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#include <gtest/gtest.h>

#include <mcl_3dl/imu_measurement_models/imu_measurement_model_gravity.h>

TEST(ImuMeasurementModelGravity, measure)
{
  mcl_3dl::ImuMeasurementModelGravity measurement(M_PI / 4.0);
  measurement.setAccMeasure(mcl_3dl::Vec3(0.1, 0.2, 0.3));
  mcl_3dl::State6DOF s1(mcl_3dl::Vec3(0.0, 0.0, 0.0),
                        mcl_3dl::Quat(mcl_3dl::Vec3(M_PI / 18.0, M_PI / 6.0, M_PI / -2.0)));
  EXPECT_NEAR(measurement.measure(s1), 0.2678633, 1.0e-6);

  measurement.setAccMeasure(mcl_3dl::Vec3(-0.3, -0.2, -0.1));
  mcl_3dl::State6DOF s2(mcl_3dl::Vec3(0.0, 0.0, 0.0),
                        mcl_3dl::Quat(mcl_3dl::Vec3(-M_PI / 12.0, M_PI / 36.0, M_PI * 1.5)));
  EXPECT_NEAR(measurement.measure(s2), 0.0604828, 1.0e-6);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}