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());
}