test_integrate.py 文件源码

def test_coning_sculling():
    # Basically a smoke test, because the function is quite simple.
    gyro = np.zeros((10, 3))
    gyro[:, 0] = 0.01
    gyro[:, 2] = -0.01

    accel = np.zeros((10, 3))
    accel[:, 2] = 0.1

    dv_true = np.empty_like(accel)
    dv_true[:, 0] = 0
    dv_true[:, 1] = -0.5e-3
    dv_true[:, 2] = 0.1
    theta, dv = coning_sculling(gyro, accel)
    assert_allclose(theta, gyro, rtol=1e-10)
    assert_allclose(dv, dv_true, rtol=1e-10)