ekf2: move EKF out of ecl

2026-06-30 05:40:35 +08:00 · 2021-07-14 18:29:43 -04:00
parent 883624d915
commit 2cf66a5d8f
216 changed files with 1369 additions and 2399 deletions
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_EKF_utils.cpp
+ *
+ * @brief Unit tests for the miscellaneous EKF utilities
+ */
+
+#include <gtest/gtest.h>
+#include <cmath>
+#include <vector>
+#include <mathlib/mathlib.h>
+
+#include "EKF/utils.hpp"
+
+TEST(eclPowfTest, compareToStandardImplementation)
+{
+	std::vector<int> exponents = {-3, -2, -1, -0, 0, 1, 2, 3};
+	std::vector<float> bases = {-INFINITY, -11.1f, -0.5f, -0.f, 0.f, 0.5f, 11.1f, INFINITY};
+
+	for (auto const exponent : exponents) {
+		for (auto const basis : bases) {
+			EXPECT_EQ(ecl::powf(basis, exponent),
+				  std::pow(basis, static_cast<float>(exponent)));
+		}
+	}
+}
+
+TEST(euler312YawTest, fromQuaternion)
+{
+	matrix::Quatf q1(3.5f, 2.4f, -0.5f, -3.f);
+	q1.normalize();
+	const matrix::Eulerf euler1(q1);
+	EXPECT_FLOAT_EQ(euler1(2), getEuler321Yaw(q1));
+
+	matrix::Quatf q2(0.f, 0, -1.f, 0.f);
+	q2.normalize();
+	const matrix::Eulerf euler2(q2);
+	EXPECT_FLOAT_EQ(euler2(2), getEuler321Yaw(q2));
+}
+
+TEST(shouldUse321RotationSequenceTest, pitch90)
+{
+	matrix::Eulerf euler(0.f, math::radians(90), 0.f);
+	matrix::Dcmf R(euler);
+	EXPECT_FALSE(shouldUse321RotationSequence(R));
+}
+
+TEST(shouldUse321RotationSequenceTest, roll90)
+{
+	matrix::Eulerf euler(math::radians(90.f), 0.f, 0.f);
+	matrix::Dcmf R(euler);
+	EXPECT_TRUE(shouldUse321RotationSequence(R));
+}
+
+TEST(shouldUse321RotationSequenceTest, moreRollThanPitch)
+{
+	matrix::Eulerf euler(math::radians(45.f), math::radians(30.f), 0.f);
+	matrix::Dcmf R(euler);
+	EXPECT_TRUE(shouldUse321RotationSequence(R));
+}
+
+TEST(shouldUse321RotationSequenceTest, morePitchThanRoll)
+{
+	matrix::Eulerf euler(math::radians(30.f), math::radians(45.f), 0.f);
+	matrix::Dcmf R(euler);
+	EXPECT_FALSE(shouldUse321RotationSequence(R));
+}