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Random tests I was last checking

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Matthias Grob 2025-04-25 17:41:31 +02:00
parent 75f7f19b0a
commit 9fa204095b
2 changed files with 7 additions and 3 deletions
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9
src/lib/control_allocation/control_allocation/ControlAllocationSequentialDesaturationTest.cpp
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@ -297,7 +297,8 @@ TEST_F(ControlAllocationSequentialDesaturationTestQuadX, PreviousMixingTestsNoAi
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -0.100f), Vector4f(0.085000f, 0.015000f, 0.160000f, 0.140000f)); // 27
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -0.450f), Vector4f(0.435000f, 0.365000f, 0.510000f, 0.490000f)); // 28
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -0.900f), Vector4f(0.885000f, 0.815000f, 0.960000f, 0.940000f)); // 29
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -1.000f), Vector4f(0.922500f, 0.852500f, 0.997500f, 0.977500f)); // 30
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -1.000f), Vector4f(0.922500f, 0.852500f, 0.997500f,
0.977500f) + 0.0025f); // 30
EXPECT_EQ(allocate(-0.125f, 0.020f, 0.040f, -0.000f), Vector4f(0.000000f, 0.000000f, 0.000000f, 0.000000f)); // 31
EXPECT_EQ(allocate(-0.125f, 0.020f, 0.040f, -0.100f), Vector4f(0.146250f, 0.116250f, 0.073750f, 0.063750f)); // 32
EXPECT_EQ(allocate(-0.125f, 0.020f, 0.040f, -0.450f), Vector4f(0.496250f, 0.466250f, 0.423750f, 0.413750f)); // 33
@ -353,7 +354,8 @@ TEST_F(ControlAllocationSequentialDesaturationTestQuadX, PreviousMixingTestsAirm
EXPECT_EQ(allocate(0.050f, -0.050f, 0.000f, -0.450f), Vector4f(0.425000f, 0.450000f, 0.475000f, 0.450000f)); // 13
EXPECT_EQ(allocate(0.050f, -0.050f, 0.000f, -0.900f), Vector4f(0.875000f, 0.900000f, 0.925000f, 0.900000f)); // 14
EXPECT_EQ(allocate(0.050f, -0.050f, 0.000f, -1.000f), Vector4f(0.950000f, 0.975000f, 1.000000f, 0.975000f)); // 15
EXPECT_EQ(allocate(0.050f, 0.050f, -0.025f, -0.000f), Vector4f(0.018750f, 0.006250f, 0.018750f, 0.056250f)); // 16
EXPECT_EQ(allocate(0.050f, 0.050f, -0.025f, -0.000f), Vector4f(0.018750f, 0.006250f, 0.018750f,
0.056250f) - 0.00625f); // 16
EXPECT_EQ(allocate(0.050f, 0.050f, -0.025f, -0.100f), Vector4f(0.093750f, 0.081250f, 0.093750f, 0.131250f)); // 17
EXPECT_EQ(allocate(0.050f, 0.050f, -0.025f, -0.450f), Vector4f(0.443750f, 0.431250f, 0.443750f, 0.481250f)); // 18
EXPECT_EQ(allocate(0.050f, 0.050f, -0.025f, -0.900f), Vector4f(0.893750f, 0.881250f, 0.893750f, 0.931250f)); // 19
@ -367,7 +369,8 @@ TEST_F(ControlAllocationSequentialDesaturationTestQuadX, PreviousMixingTestsAirm
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -0.100f), Vector4f(0.085000f, 0.015000f, 0.160000f, 0.140000f)); // 27
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -0.450f), Vector4f(0.435000f, 0.365000f, 0.510000f, 0.490000f)); // 28
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -0.900f), Vector4f(0.885000f, 0.815000f, 0.960000f, 0.940000f)); // 29
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -1.000f), Vector4f(0.922500f, 0.852500f, 0.997500f, 0.977500f)); // 30
EXPECT_EQ(allocate(0.200f, 0.050f, 0.090f, -1.000f), Vector4f(0.922500f, 0.852500f, 0.997500f,
0.977500f) + 0.0025f); // 30
EXPECT_EQ(allocate(-0.125f, 0.020f, 0.040f, -0.000f), Vector4f(0.082500f, 0.052500f, 0.010000f, 0.000000f)); // 31
EXPECT_EQ(allocate(-0.125f, 0.020f, 0.040f, -0.100f), Vector4f(0.146250f, 0.116250f, 0.073750f, 0.063750f)); // 32
EXPECT_EQ(allocate(-0.125f, 0.020f, 0.040f, -0.450f), Vector4f(0.496250f, 0.466250f, 0.423750f, 0.413750f)); // 33

1
src/lib/matrix/test/MatrixDualTest.cpp
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@ -253,6 +253,7 @@ TEST(MatrixDualTest, Dual)
// set our starting point, requesting partial derivatives of x and y in column 0 and 1
Vector3<D> dualPoint(D(0.5f, 0), D(-0.8f, 1), D(2.f));
EXPECT_EQ(D(0.5f, 0), D(-0.8f, 1));
Dual<float, 2> dualResult = testFunction(dualPoint);