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test: Update unit test to match expected behaviour

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This commit is contained in:
Paul Riseborough
2021-01-08 09:09:32 +11:00
committed by Daniel Agar
parent dd259a288f
commit 1b1c049e81
1 changed files with 0 additions and 5 deletions
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test/test_EKF_initialization.cpp
-5
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@@ -120,17 +120,12 @@ class EkfInitializationTest : public ::testing::Test {
{ {
const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion()); const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion());
const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance(); const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance();
const Vector3f accel_bias = _ekf->getAccelBias();
for (int i = 0; i < 3; i++){ for (int i = 0; i < 3; i++){
if (fabsf(R_to_earth(2, i)) > 0.8f) { if (fabsf(R_to_earth(2, i)) > 0.8f) {
// Highly observable, the variance decreases // Highly observable, the variance decreases
EXPECT_LT(dvel_bias_var(i), 4.0e-6f) << "axis " << i; EXPECT_LT(dvel_bias_var(i), 4.0e-6f) << "axis " << i;
} else {
// Poorly observable, the variance is set to 0
EXPECT_FLOAT_EQ(dvel_bias_var(i), 0.f) << "axis" << i;
EXPECT_FLOAT_EQ(accel_bias(i), 0.f) << "axis" << i;
} }
} }
} }