test_imu_measurement_model_gravity.cpp
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29 
30 #include <gtest/gtest.h>
31 
33 
34 TEST(ImuMeasurementModelGravity, measure)
35 {
36  mcl_3dl::ImuMeasurementModelGravity measurement(M_PI / 4.0);
37  measurement.setAccMeasure(mcl_3dl::Vec3(0.1, 0.2, 0.3));
38  mcl_3dl::State6DOF s1(mcl_3dl::Vec3(0.0, 0.0, 0.0),
39  mcl_3dl::Quat(mcl_3dl::Vec3(M_PI / 18.0, M_PI / 6.0, M_PI / -2.0)));
40  EXPECT_NEAR(measurement.measure(s1), 0.2678633, 1.0e-6);
41 
42  measurement.setAccMeasure(mcl_3dl::Vec3(-0.3, -0.2, -0.1));
43  mcl_3dl::State6DOF s2(mcl_3dl::Vec3(0.0, 0.0, 0.0),
44  mcl_3dl::Quat(mcl_3dl::Vec3(-M_PI / 12.0, M_PI / 36.0, M_PI * 1.5)));
45  EXPECT_NEAR(measurement.measure(s2), 0.0604828, 1.0e-6);
46 }
47 
48 int main(int argc, char** argv)
49 {
50  testing::InitGoogleTest(&argc, argv);
51 
52  return RUN_ALL_TESTS();
53 }
TEST(ImuMeasurementModelGravity, measure)
void setAccMeasure(const Vec3 &acc_measure) final
int main(int argc, char **argv)
float measure(const State6DOF &s) const final


mcl_3dl
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:16:29