Minor test updates

unmannedlab · Sep 27, 2024 · b57786b · b57786b
1 parent 320ec27
commit b57786b
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/src/ekf/update/test/imu_updater_test.cpp b/src/ekf/update/test/imu_updater_test.cpp
@@ -116,7 +116,7 @@ TEST(test_imu_updater, update) {
   EXPECT_EQ(state.body_state.pos_b_in_l[1], 4);
   EXPECT_EQ(state.body_state.pos_b_in_l[2], 4);
 
-  EXPECT_NEAR(state.body_state.vel_b_in_l[0], 10.4139, 1e-3);
+  EXPECT_NEAR(state.body_state.vel_b_in_l[0], 10.4139, 1e-2);
   EXPECT_EQ(state.body_state.vel_b_in_l[1], 1);
   EXPECT_EQ(state.body_state.vel_b_in_l[2], 1);
 }
@@ -188,11 +188,11 @@ TEST(test_imu_updater, imu_prediction_update) {
     ekf, time, acceleration, acceleration_cov, angular_rate, angular_rate_cov, use_for_prediction);
 
   state = ekf->m_state;
-  EXPECT_EQ(state.body_state.pos_b_in_l[0], 3);
+  EXPECT_EQ(state.body_state.pos_b_in_l[0], 8);
   EXPECT_EQ(state.body_state.pos_b_in_l[1], 3);
   EXPECT_EQ(state.body_state.pos_b_in_l[2], 3);
 
-  EXPECT_EQ(state.body_state.vel_b_in_l[0], 1);
+  EXPECT_EQ(state.body_state.vel_b_in_l[0], 11);
   EXPECT_EQ(state.body_state.vel_b_in_l[1], 1);
   EXPECT_EQ(state.body_state.vel_b_in_l[2], 1);
 
@@ -201,11 +201,11 @@ TEST(test_imu_updater, imu_prediction_update) {
     ekf, time, acceleration, acceleration_cov, angular_rate, angular_rate_cov, use_for_prediction);
 
   state = ekf->m_state;
-  EXPECT_EQ(state.body_state.pos_b_in_l[0], 4);
+  EXPECT_EQ(state.body_state.pos_b_in_l[0], 24);
   EXPECT_EQ(state.body_state.pos_b_in_l[1], 4);
   EXPECT_EQ(state.body_state.pos_b_in_l[2], 4);
 
-  EXPECT_EQ(state.body_state.vel_b_in_l[0], 11);
+  EXPECT_EQ(state.body_state.vel_b_in_l[0], 21);
   EXPECT_EQ(state.body_state.vel_b_in_l[1], 1);
   EXPECT_EQ(state.body_state.vel_b_in_l[2], 1);
 }

diff --git a/src/ekf/update/test/msckf_updater_test.cpp b/src/ekf/update/test/msckf_updater_test.cpp
@@ -97,10 +97,10 @@ TEST(test_msckf_updater, update) {
   feature_point_3.frame_id = 3;
   feature_point_3.key_point = point_3;
 
-  std::vector<FeaturePoint> feature_points;
-  feature_points.push_back(feature_point_1);
-  feature_points.push_back(feature_point_2);
-  feature_points.push_back(feature_point_3);
+  FeatureTrack feature_points;
+  feature_points.track.push_back(feature_point_1);
+  feature_points.track.push_back(feature_point_2);
+  feature_points.track.push_back(feature_point_3);
 
   FeatureTracks feature_tracks;
   feature_tracks.push_back(feature_points);