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Interface: output vector quantities by "return-by-value"

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kamilritz
2020-03-30 13:07:00 +02:00
committed by Mathieu Bresciani
parent 72d8f91b4d
commit 2fa43419d2
16 changed files with 126 additions and 233 deletions
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test/test_EKF_fusionLogic.cpp
+9 -9
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@@ -136,25 +136,25 @@ TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
// WHEN: Having a big horizontal position Gps jump coming from the Gps Receiver
Vector3f pos_old = _ekf_wrapper.getPosition();
Vector3f vel_old = _ekf_wrapper.getVelocity();
Vector3f accel_bias_old = _ekf_wrapper.getAccelBias();
const Vector3f pos_old = _ekf->getPosition();
const Vector3f vel_old = _ekf->getVelocity();
const Vector3f accel_bias_old = _ekf->getAccelBias();
_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f{10.0f, 0.0f});
_sensor_simulator.runSeconds(2);
// THEN: The estimate should not change much in the short run
// and GPS fusion should be stopped after a while.
Vector3f pos_new = _ekf_wrapper.getPosition();
Vector3f vel_new = _ekf_wrapper.getVelocity();
Vector3f accel_bias_new = _ekf_wrapper.getAccelBias();
Vector3f pos_new = _ekf->getPosition();
Vector3f vel_new = _ekf->getVelocity();
Vector3f accel_bias_new = _ekf->getAccelBias();
EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f));
EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
_sensor_simulator.runSeconds(10);
pos_new = _ekf_wrapper.getPosition();
vel_new = _ekf_wrapper.getVelocity();
accel_bias_new = _ekf_wrapper.getAccelBias();
pos_new = _ekf->getPosition();
vel_new = _ekf->getVelocity();
accel_bias_new = _ekf->getAccelBias();
EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f));
EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));