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

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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_initialization.cpp
+5 -5
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@@ -64,7 +64,7 @@ class EkfInitializationTest : public ::testing::Test {
void initializedOrienationIsMatchingGroundTruth(Quatf true_quaternion)
{
Quatf quat_est = _ekf_wrapper.getQuaternion();
const Quatf quat_est = _ekf->getQuaternion();
EXPECT_TRUE(matrix::isEqual(quat_est, true_quaternion));
}
@@ -86,8 +86,8 @@ class EkfInitializationTest : public ::testing::Test {
void velocityAndPositionCloseToZero()
{
Vector3f pos = _ekf_wrapper.getPosition();
Vector3f vel = _ekf_wrapper.getVelocity();
const Vector3f pos = _ekf->getPosition();
const Vector3f vel = _ekf->getVelocity();
EXPECT_TRUE(matrix::isEqual(pos, Vector3f{}, 0.001f));
EXPECT_TRUE(matrix::isEqual(vel, Vector3f{}, 0.001f));
@@ -95,8 +95,8 @@ class EkfInitializationTest : public ::testing::Test {
void velocityAndPositionVarianceBigEnoughAfterOrientationInitialization()
{
Vector3f pos_var = _ekf_wrapper.getPositionVariance();
Vector3f vel_var = _ekf_wrapper.getVelocityVariance();
const Vector3f pos_var = _ekf->getPositionVariance();
const Vector3f vel_var = _ekf->getVelocityVariance();
const float pos_variance_limit = 0.2f;
EXPECT_TRUE(pos_var(0) > pos_variance_limit) << "pos_var(1)" << pos_var(0);