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Interface: output vector quantities by "return-by-value"

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This commit is contained in:
kamilritz
2020-02-13 21:12:35 +01:00
committed by Mathieu Bresciani
parent 72d8f91b4d
commit 2fa43419d2
16 changed files with 126 additions and 233 deletions
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test/test_EKF_externalVision.cpp
+5 -5
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@@ -103,7 +103,7 @@ TEST_F(EkfExternalVisionTest, checkVisionFusionLogic)
TEST_F(EkfExternalVisionTest, visionVarianceCheck)
{
const Vector3f velVar_init = _ekf_wrapper.getVelocityVariance();
const Vector3f velVar_init = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);
_sensor_simulator._vio.setVelocityVariance(Vector3f{2.0f,0.01f,0.01f});
@@ -111,7 +111,7 @@ TEST_F(EkfExternalVisionTest, visionVarianceCheck)
_sensor_simulator.startExternalVision();
_sensor_simulator.runSeconds(4);
const Vector3f velVar_new = _ekf_wrapper.getVelocityVariance();
const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_TRUE(velVar_new(0) > velVar_new(1));
}
@@ -131,17 +131,17 @@ TEST_F(EkfExternalVisionTest, visionAlignment)
_ekf_wrapper.enableExternalVisionVelocityFusion();
_sensor_simulator.startExternalVision();
const Vector3f velVar_init = _ekf_wrapper.getVelocityVariance();
const Vector3f velVar_init = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);
_sensor_simulator.runSeconds(4);
// THEN: velocity uncertainty in y should be bigger
const Vector3f velVar_new = _ekf_wrapper.getVelocityVariance();
const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_TRUE(velVar_new(1) > velVar_new(0));
// THEN: the frame offset should be estimated correctly
Quatf estimatedExternalVisionFrameOffset = _ekf_wrapper.getVisionAlignmentQuaternion();
Quatf estimatedExternalVisionFrameOffset = _ekf->getVisionAlignmentQuaternion();
EXPECT_TRUE(matrix::isEqual(externalVisionFrameOffset.canonical(),
estimatedExternalVisionFrameOffset.canonical()));
}