C++ (Cpp) Vector2f::isZero Exemples

Exemple #1

Fichier : mekf_gyro_acc_mag_test.cpp Projet : Stapelzeiger/INS-board-fw

TEST(MEKFGyroAccMagTestGroup, vect_measurement_transform)
{
    Eigen::Quaternionf att(Eigen::AngleAxisf(0.1, Eigen::Vector3f::UnitZ()));
    Eigen::Vector3f v_i(1, 2, 3); // expectation of v in inertial frame
    k.reset(att);
    Eigen::Matrix3f b_to_m = k.vect_measurement_basis_b_frame(v_i);
    Eigen::Vector3f v_b = att.conjugate()._transformVector(v_i);

    Eigen::Vector2f z = MEKFGyroAccMag::vect_measurement_transform(b_to_m, v_b);

    // the measurement z of the expectation is zero
    CHECK_TRUE(z.isZero());
}