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Filter: add gtest suite

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This commit is contained in:
Peter Barker 2021-02-04 15:33:09 +11:00 committed by Peter Barker
parent 514dfa4b71
commit f847758272
2 changed files with 56 additions and 0 deletions
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49
libraries/Filter/tests/test_modefilter.cpp Normal file
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// given we are in the Math library, you're epected to know what
// you're doing when directly comparing floats:
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
#include <AP_gtest.h>
#include <Filter/Filter.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
TEST(ModeFilterTest, Int16_Size5)
{
{
// 5-entry filter taking the middle element by magnitude of
// the last 5 samples:
ModeFilterInt16_Size5 filt{2};
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(5));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
EXPECT_FLOAT_EQ(0.0, filt.apply(0));
EXPECT_FLOAT_EQ(0.0, filt.apply(10));
}
}
AP_GTEST_MAIN()
#pragma GCC diagnostic pop

7
libraries/Filter/tests/wscript Normal file
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#!/usr/bin/env python
# encoding: utf-8
def build(bld):
bld.ap_find_tests(
use='ap',
)