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Refactored cross sphere line tracking and added a unittest to verify correct operation
This commit is contained in:
Andreas Antener
committed by
Lorenz Meier
Lorenz Meier
parent
c2e0246650
commit
9a219da9c2
@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE modules__mc_pos_control__mc_pos_control_tests
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MAIN mc_pos_control_tests
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SRCS
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mc_pos_control_tests.cpp
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../mc_pos_control_main.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,184 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Simon Wilks <sjwilks@gmail.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_pos_control_tests.cpp
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* Commander unit tests. Run the tests as follows:
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* nsh> mc_pos_control_tests
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*
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*/
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#include <systemlib/err.h>
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#include <unit_test/unit_test.h>
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#include <mathlib/mathlib.h>
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extern "C" __EXPORT int mc_pos_control_tests_main(int argc, char *argv[]);
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bool mcPosControlTests(void);
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//#include "../mc_pos_control_main.cpp"
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class MulticopterPositionControl
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{
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public:
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bool cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
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const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res);
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};
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class McPosControlTests : public UnitTest
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{
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public:
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McPosControlTests();
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virtual ~McPosControlTests();
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virtual bool run_tests(void);
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private:
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bool cross_sphere_line_test();
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};
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McPosControlTests::McPosControlTests()
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{
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}
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McPosControlTests::~McPosControlTests()
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{
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}
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bool McPosControlTests::cross_sphere_line_test(void)
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{
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MulticopterPositionControl *control = {};
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math::Vector<3> prev = math::Vector<3>(0, 0, 0);
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math::Vector<3> curr = math::Vector<3>(0, 0, 2);
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math::Vector<3> res;
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bool retval = false;
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/*
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* Testing 9 positions (+) around waypoints (o):
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*
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* Far + + +
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*
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* Near + + +
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* On trajectory --+----o---------+---------o----+--
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* prev curr
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*/
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// on line, near, before previous waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_true(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 50);
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// on line, near, before target waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_true(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 200);
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// on line, near, after target waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_true(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 150);
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// near, before previous waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_true(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 37);
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// near, before target waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_true(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 187);
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// near, after target waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_true(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 163);
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// far, before previous waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_false(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true(res(2) == 0.0f);
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// far, before target waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_false(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 100);
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// far, after target waypoint
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retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
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PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
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ut_assert_false(retval);
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ut_assert_true(res(0) == 0.0f);
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ut_assert_true(res(1) == 0.0f);
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ut_assert_true((int)(res(2) * 1e2f + 0.5f) == 200);
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return true;
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}
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bool McPosControlTests::run_tests(void)
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{
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ut_run_test(cross_sphere_line_test);
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return (_tests_failed == 0);
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}
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ut_declare_test(mcPosControlTests, McPosControlTests);
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int mc_pos_control_tests_main(int argc, char *argv[])
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{
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return mcPosControlTests() ? 0 : -1;
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}
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