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ekf2: access state covariance using helper functions

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bresch
2023-09-26 06:41:04 +02:00
committed by Mathieu Bresciani
parent 619616b9f0
commit 99197919d7
11 changed files with 36 additions and 48 deletions
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src/modules/ekf2/test/test_EKF_initialization.cpp
+1 -1
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@@ -78,7 +78,7 @@ public:
void quaternionVarianceBigEnoughAfterOrientationInitialization(float quat_variance_limit = 0.00001f)
{
const matrix::Vector4f quat_variance = _ekf_wrapper.getQuaternionVariance();
const matrix::Vector4f quat_variance = _ekf->getQuaternionVariance();
EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1): " << quat_variance(1);
EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2): " << quat_variance(2);
EXPECT_TRUE(quat_variance(3) > quat_variance_limit) << "quat_variance(3): " << quat_variance(3);