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make ekf a shared pointer

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This commit is contained in:
kamilritz
2019-12-16 13:40:01 +01:00
committed by Mathieu Bresciani
parent f13f2f8452
commit 39b369d90b
1 changed files with 11 additions and 12 deletions
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test/test_EKF_basics.cpp
+11 -12
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@@ -40,9 +40,12 @@
class EkfInitializationTest : public ::testing::Test {
public:
EkfInitializationTest(): ::testing::Test(),
_ekf{std::make_shared<Ekf>()},
_sensor_simulator(_ekf) {};
std::shared_ptr<Ekf> _ekf;
SensorSimulator* _sensor_simulator;
SensorSimulator _sensor_simulator;
// Duration of initalization with only providing baro,mag and IMU
const uint32_t _init_duration_us{2000000}; // 2s
@@ -50,17 +53,13 @@ class EkfInitializationTest : public ::testing::Test {
// Setup the Ekf with synthetic measurements
void SetUp() override
{
_ekf = std::make_shared<Ekf>();
_ekf->init(0);
_sensor_simulator = new SensorSimulator(_ekf);
_sensor_simulator->run(_init_duration_us);
_sensor_simulator.run(_init_duration_us);
}
// Use this method to clean up any memory, network etc. after each test
void TearDown() override
{
delete _sensor_simulator;
}
};
@@ -110,7 +109,7 @@ TEST_F(EkfInitializationTest, convergesToZero)
{
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: Added more defautl sensor measurements
_sensor_simulator->run(4000000); // for further 4s
_sensor_simulator.run(4000000); // for further 4s
float converged_pos[3];
float converged_vel[3];
@@ -136,8 +135,8 @@ TEST_F(EkfInitializationTest, gpsFusion)
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
_sensor_simulator->startGps();
_sensor_simulator->run(11000000); // for further 3s
_sensor_simulator.startGps();
_sensor_simulator.run(11000000); // for further 3s
// THEN: EKF should fuse GPS, but no other position sensor
filter_control_status_u control_status;
@@ -175,9 +174,9 @@ TEST_F(EkfInitializationTest, accleBiasEstimation)
// WHEN: Added more sensor measurements with accel bias and gps measurements
Vector3f accel_bias = {0.0f,0.0f,0.1f};
_sensor_simulator->startGps();
_sensor_simulator->setImuBias(accel_bias, Vector3f{0.0f,0.0f,0.0f});
_sensor_simulator->run(10000000);
_sensor_simulator.startGps();
_sensor_simulator.setImuBias(accel_bias, Vector3f{0.0f,0.0f,0.0f});
_sensor_simulator.run(10000000);
float converged_pos[3];
float converged_vel[3];