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TestVelocitySmoothing - add check for time synchronization and final acceleration

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bresch 2019-08-22 14:13:49 +02:00 committed by Mathieu Bresciani
parent f40d571858
commit 5b82fa3a0f
1 changed files with 17 additions and 4 deletions
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21
src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp
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@ -110,15 +110,28 @@ TEST_F(VelocitySmoothingTest, testConstantSetpoint)
// Generate the trajectories with constant setpoints and dt
Vector3f velocity_setpoints(0.f, 1.f, 0.f);
float dt = 0.01f;
updateTrajectories(velocity_setpoints, dt);
for (int i = 0; i < 60; i++) {
// Check that time synchronization actually works
ASSERT_LE(fabsf(_trajectories[0].getTotalTime() - _trajectories[1].getTotalTime()), 0.0001);
// Compute the number of steps required to reach desired value
// because of known numerical issues, the actual trajectory takes a
// bit more time than the predicted one, this is why we have to add 14 steps
// to the theoretical value
float t123 = _trajectories[0].getTotalTime();
float nb_steps = ceilf(t123 / dt) + 14;
for (int i = 0; i < nb_steps; i++) {
updateTrajectories(velocity_setpoints, dt);
}
// Check that all the trajectories reached their desired value
EXPECT_LE(fabsf(_trajectories[0].getCurrentVelocity() - velocity_setpoints(0)), 0.01f);
EXPECT_LE(fabsf(_trajectories[1].getCurrentVelocity() - velocity_setpoints(1)), 0.01f);
EXPECT_LE(fabsf(_trajectories[2].getCurrentVelocity() - velocity_setpoints(2)), 0.01f);
// and that the acceleration is now zero
for (int i = 0; i < 3; i++) {
EXPECT_LE(fabsf(_trajectories[i].getCurrentVelocity() - velocity_setpoints(i)), 0.01f);
EXPECT_LE(fabsf(_trajectories[i].getCurrentAcceleration()), 0.0001f);
}
}
TEST_F(VelocitySmoothingTest, testZeroSetpoint)