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AngularAcceleration: explicitly disable filter when cutoff <= 0

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bresch
2021-11-17 16:02:49 +01:00
committed by Mathieu Bresciani
parent 4a14a8bc7f
commit 43fb076828
3 changed files with 28 additions and 7 deletions
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src/lib/mathlib/math/test/AlphaFilterTest.cpp
+16
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@@ -241,6 +241,22 @@ TEST(AlphaFilterTest, AlphaZeroTest)
}
}
TEST(AlphaFilterTest, SetFrequencyTest)
{
AlphaFilter<float> _alpha_filter;
const float fs = .1f;
EXPECT_FALSE(_alpha_filter.setCutoffFreq(fs, 0.f));
EXPECT_FALSE(_alpha_filter.setCutoffFreq(fs, fs)); // Cutoff above Nyquist freq
EXPECT_FALSE(_alpha_filter.setCutoffFreq(0.f, fs / 4.f));
EXPECT_FALSE(_alpha_filter.setCutoffFreq(0.f, 0.f));
EXPECT_FALSE(_alpha_filter.setCutoffFreq(-fs, fs / 4.f));
EXPECT_FALSE(_alpha_filter.setCutoffFreq(-fs, -fs / 4.f));
EXPECT_FALSE(_alpha_filter.setCutoffFreq(fs, -fs / 4.f));
EXPECT_TRUE(_alpha_filter.setCutoffFreq(fs, fs / 4.f));
}
TEST(AlphaFilterTest, ConvergenceTest)
{
AlphaFilter<float> _alpha_filter;