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Matrix: convert filter test to gtest

This commit is contained in:
Matthias Grob 2022-02-23 14:49:41 +01:00
parent 79e8152f05
commit 8f695a5613
3 changed files with 59 additions and 29 deletions
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2
src/lib/matrix/test/CMakeLists.txt
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@ -16,7 +16,6 @@ set(tests
vector
vector2
vector3
filter
integration
squareMatrix
helper
@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)
px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
px4_add_unit_gtest(SRC MatrixDualTest.cpp)
px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

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

28
src/lib/matrix/test/filter.cpp
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@ -1,28 +0,0 @@
#include "test_macros.hpp"
#include <matrix/filter.hpp>
using namespace matrix;
int main()
{
const size_t n_x = 6;
const size_t n_y = 5;
SquareMatrix<float, n_x> P = eye<float, n_x>();
SquareMatrix<float, n_y> R = eye<float, n_y>();
Matrix<float, n_y, n_x> C;
C.setIdentity();
float data[] = {1, 2, 3, 4, 5};
Vector<float, n_y> r(data);
Vector<float, n_x> dx;
SquareMatrix<float, n_x> dP;
float beta = 0;
kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
float data_check[] = {0.5, 1, 1.5, 2, 2.5, 0};
Vector<float, n_x> dx_check(data_check);
TEST(isEqual(dx, dx_check));
return 0;
}