forked from Archive/PX4-Autopilot
Matrix: convert filter test to gtest
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@ -16,7 +16,6 @@ set(tests
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vector
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vector2
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vector3
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filter
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integration
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squareMatrix
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helper
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@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)
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px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
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px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
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px4_add_unit_gtest(SRC MatrixDualTest.cpp)
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px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
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px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
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px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
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@ -0,0 +1,58 @@
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/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <matrix/filter.hpp>
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using namespace matrix;
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TEST(MatrixFilterTest, Filter)
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{
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const size_t n_x = 6;
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const size_t n_y = 5;
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SquareMatrix<float, n_x> P = eye<float, n_x>();
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SquareMatrix<float, n_y> R = eye<float, n_y>();
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Matrix<float, n_y, n_x> C;
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C.setIdentity();
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float data[] = {1, 2, 3, 4, 5};
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Vector<float, n_y> r(data);
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Vector<float, n_x> dx;
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SquareMatrix<float, n_x> dP;
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float beta = 0;
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kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
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float data_check[] = {0.5, 1, 1.5, 2, 2.5, 0};
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Vector<float, n_x> dx_check(data_check);
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EXPECT_EQ(dx, dx_check);
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}
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@ -1,28 +0,0 @@
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#include "test_macros.hpp"
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#include <matrix/filter.hpp>
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using namespace matrix;
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int main()
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{
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const size_t n_x = 6;
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const size_t n_y = 5;
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SquareMatrix<float, n_x> P = eye<float, n_x>();
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SquareMatrix<float, n_y> R = eye<float, n_y>();
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Matrix<float, n_y, n_x> C;
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C.setIdentity();
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float data[] = {1, 2, 3, 4, 5};
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Vector<float, n_y> r(data);
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Vector<float, n_x> dx;
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SquareMatrix<float, n_x> dP;
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float beta = 0;
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kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
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float data_check[] = {0.5, 1, 1.5, 2, 2.5, 0};
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Vector<float, n_x> dx_check(data_check);
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TEST(isEqual(dx, dx_check));
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return 0;
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}
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