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imuodom fix

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This commit is contained in:
Francesco Gatti
2020-03-09 22:05:34 +01:00
parent 6fee8d5ec5
commit 2d378e9070
2 changed files with 34 additions and 10 deletions
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tests/imuodom/imuodom.cpp
+12 -7
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@@ -47,21 +47,26 @@ int main() {
readBinaryFile(o0_bin, ImuNet.odim0.tot()*N, &out0_h, &out0);
readBinaryFile(o1_bin, ImuNet.odim1.tot()*N, &out1_h, &out1);
for(int i=0; i<N; i++) {
TIMER_START
std::ofstream path("path.txt");
for(int i=0; i<N; i++) {
std::cout<<"i: "<<i<<"\n";
//TIMER_START
// Inference
ImuNet.update(i0_h, i1_h, i2_h);
//TIMER_STOP
TIMER_STOP
// log path
path<<ImuNet.odomPOS(0)<<" "<<ImuNet.odomPOS(1)<<" "<< ImuNet.odomPOS(2)<<"\n";
path.flush();
// Print real test
printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '=');
//printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '=');
//ImuNet.odim0.print();
checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d);
//checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d);
//ImuNet.odim1.print();
checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d);
//checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d);
i0_h += ImuNet.dim0.tot();
i1_h += ImuNet.dim1.tot();