ManualVelocitySmoothingXY - Add simple unit test

src/lib/FlightTasks/tasks/Utility/CMakeLists.txt

@@ -45,4 +45,5 @@ target_link_libraries(FlightTaskUtility PUBLIC FlightTask hysteresis)
 target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS FlightTaskUtility)
+px4_add_unit_gtest(SRC ManualVelocitySmoothingXYTest.cpp LINKLIBS FlightTaskUtility)
 px4_add_functional_gtest(SRC ObstacleAvoidanceTest.cpp LINKLIBS FlightTaskUtility)

src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXY.hpp

@@ -60,14 +60,18 @@ public:
 		_smoothing[0].setMaxJerk(max_jerk);
 		_smoothing[1].setMaxJerk(max_jerk);
 	}
+	float getMaxJerk() const { return _smoothing[0].getMaxJerk(); }
+
 	void setMaxAccel(const float max_accel) {
 		_smoothing[0].setMaxAccel(max_accel);
 		_smoothing[1].setMaxAccel(max_accel);
 	}
+	float getMaxAccel() const { return _smoothing[0].getMaxAccel(); }
 	void setMaxVel(const float max_vel) {
 		_smoothing[0].setMaxVel(max_vel);
 		_smoothing[1].setMaxVel(max_vel);
 	}
+	float getMaxVel() const { return _smoothing[0].getMaxVel(); }
 
 	Vector2f getCurrentJerk() const { return _state.j; }
 	Vector2f getCurrentAcceleration() const { return _state.a; }

src/lib/FlightTasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Test code for the Manual Velocity Smoothing library
+ * Run this test only using make tests TESTFILTER=ManualVelocitySmoothing
+ */
+
+#include <gtest/gtest.h>
+#include <matrix/matrix/math.hpp>
+
+#include "ManualVelocitySmoothingXY.hpp"
+
+using namespace matrix;
+
+class ManualVelocitySmoothingXYTest : public ::testing::Test
+{
+public:
+	ManualVelocitySmoothingXY _smoothing;
+};
+
+
+TEST_F(ManualVelocitySmoothingXYTest, setGet)
+{
+	// GIVEN: Some max values
+	_smoothing.setMaxJerk(11.f);
+	_smoothing.setMaxAccel(7.f);
+	_smoothing.setMaxVel(5.f);
+
+	// THEN: We should be able to get them back
+	EXPECT_EQ(_smoothing.getMaxJerk(), 11.f);
+	EXPECT_EQ(_smoothing.getMaxAccel(), 7.f);
+	EXPECT_EQ(_smoothing.getMaxVel(), 5.f);
+}
+
+TEST_F(ManualVelocitySmoothingXYTest, getCurrentState)
+{
+	// GIVEN: the initial conditions
+	Vector2f v0(11.f, 13.f);
+	_smoothing.setCurrentVelocity(v0);
+
+	// WHEN: we get the current state
+	Vector3f j_end;
+	Vector3f a_end;
+	Vector3f v_end;
+	Vector3f x_end;
+	j_end = _smoothing.getCurrentJerk();
+	a_end = _smoothing.getCurrentAcceleration();
+	v_end = _smoothing.getCurrentVelocity();
+	x_end = _smoothing.getCurrentPosition();
+
+	// THEN: the returned values should match the input
+	EXPECT_EQ(j_end, Vector3f(0.f, 0.f, 0.f));
+	EXPECT_EQ(a_end, Vector3f(0.f, 0.f, 0.f));
+	EXPECT_EQ(v_end, Vector3f(11.f, 13.f, 0.f));
+	EXPECT_EQ(x_end, Vector3f(0.f, 0.f, 0.f));
+}