Question about the test output

[Alex-Beh]

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

1. Is this the same output you see on your side?
2. 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