Question about the test output
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Assessment
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Newbie friendliness
- 25/100
- Issue type
- Bug
- Clarity
- Needs clarification
- Activity status
- Stale
- Tech stack
- cpp
- Domain
- testing-qa
Research direction
Start by running the unit test in evalImuFactor.cpp and compare its output with the reported evalAHRSFactor failures. Read the assertion assert_equal(scenario.rotation(scenario.duration()), runner.predict(pim), 1e-9) to determine what states are compared, then document whether the test output and comparison scope are expected.
Written by the indexing model from the issue text.
Description
Hi authors,
First, thank you for releasing the IMU-factor evaluation code.
I tried running the unit test in evalImuFactor.cpp and obtained the following console output:
./evalAHRSFactor
Not equal:
expected:
[
-0.346692, 0.044757, -0.936911;
-0.0291355, 0.997865, 0.0584501;
0.937527, 0.0475615, -0.344648
]
actual:
[
0.925444, 0.308216, 0.220352;
0.119303, -0.789052, 0.60263;
0.359609, -0.531411, -0.766995
]
Failure: "assert_equal(scenario.rotation(scenario.duration()), runner.predict(pim), 1e-9)"
Not equal:
expected:
[
0.0448764, 0.970451, 0.237093;
0.359178, -0.237137, 0.902641;
0.932191, 0.0446501, -0.359207
]
actual:
[
0.155674, -0.178706, -0.971508;
-0.351104, 0.909267, -0.223518;
0.923304, 0.375896, 0.0788047
]
Failure: "assert_equal(scenario.rotation(scenario.duration()), runner.predict(pim), 1e-9)"
There were 2 failures
- Is this the same output you see on your side?
- Does the test compare the whole pre-integrated IMU trajectory against whole ground truth?
From my understanding, it integrates IMU, then compares the predicted end NavState against the scenario’s ground-truth state at the same time.
Thanks
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