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move cross_sphere_line_test method into test_controlmath.cpp
remove mc_pos_control_tests since empty move test_controlmath.cpp into systemcmds/tests directory
This commit is contained in:
Dennis Mannhart
committed by
Lorenz Meier
Lorenz Meier
parent
09b7d0f659
commit
c2343589d8
@@ -0,0 +1,212 @@
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#include <unit_test.h>
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#include <mc_pos_control/Utility/ControlMath.hpp>
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#include <mathlib/mathlib.h>
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#include <cfloat>
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class ControlMathTest : public UnitTest
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{
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public:
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virtual bool run_tests();
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private:
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bool testThrAttMapping();
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bool testPrioritizeVector();
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bool crossSphereLineTest();
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};
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bool ControlMathTest::run_tests()
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{
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ut_run_test(testThrAttMapping);
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ut_run_test(testPrioritizeVector);
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ut_run_test(crossSphereLineTest);
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return (_tests_failed == 0);
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}
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bool ControlMathTest::testThrAttMapping()
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{
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/* expected: zero roll, zero pitch, zero yaw, full thr mag
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* reasone: thrust pointing full upward
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*/
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matrix::Vector3f thr{0.0f, 0.0f, -1.0f};
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float yaw = 0.0f;
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vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw);
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ut_assert_true(att.roll_body < FLT_EPSILON);
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ut_assert_true(att.pitch_body < FLT_EPSILON);
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ut_assert_true(att.yaw_body < FLT_EPSILON);
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ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
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/* expected: same as before but with 90 yaw
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* reason: only yaw changed
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*/
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yaw = M_PI_2_F;
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att = ControlMath::thrustToAttitude(thr, yaw);
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ut_assert_true(att.roll_body < FLT_EPSILON);
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ut_assert_true(att.pitch_body < FLT_EPSILON);
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ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON);
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ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
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/* expected: same as before but roll 180
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* reason: thrust points straight down and order Euler
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* order is: 1. roll, 2. pitch, 3. yaw
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*/
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thr = matrix::Vector3f(0.0f, 0.0f, 1.0f);
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att = ControlMath::thrustToAttitude(thr, yaw);
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ut_assert_true(fabsf(att.roll_body) - M_PI_F < FLT_EPSILON);
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ut_assert_true(fabsf(att.pitch_body) < FLT_EPSILON);
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ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON);
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ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
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/* TODO: find a good way to test it */
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return true;
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}
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bool ControlMathTest::testPrioritizeVector()
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{
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float max = 5.0f;
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// v0 already at max
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matrix::Vector2f v0(max, 0);
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matrix::Vector2f v1(v0(1), -v0(0));
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// the static keywork is a workaround for an internal bug of GCC
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// "internal compiler error: in trunc_int_for_mode, at explow.c:55"
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static matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max);
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ut_assert_true(fabsf(v_r(0)) - max < FLT_EPSILON && v_r(0) > 0.0f);
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ut_assert_true(fabsf(v_r(1) - 0.0f) < FLT_EPSILON);
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// v1 exceeds max but v0 is zero
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v0.zero();
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v_r = ControlMath::constrainXY(v0, v1, max);
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ut_assert_true(fabsf(v_r(1)) - max < FLT_EPSILON && v_r(1) < 0.0f);
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ut_assert_true(fabsf(v_r(0) - 0.0f) < FLT_EPSILON);
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// v0 and v1 are below max
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v0 = matrix::Vector2f(0.5f, 0.5f);
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v1 = matrix::Vector2f(v0(1), -v0(0));
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v_r = ControlMath::constrainXY(v0, v1, max);
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float diff = matrix::Vector2f(v_r - (v0 + v1)).length();
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ut_assert_true(diff < FLT_EPSILON);
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// v0 and v1 exceed max and are perpendicular
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v0 = matrix::Vector2f(4.0f, 0.0f);
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v1 = matrix::Vector2f(0.0f, -4.0f);
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v_r = ControlMath::constrainXY(v0, v1, max);
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ut_assert_true(v_r(0) - v0(0) < FLT_EPSILON && v_r(0) > 0.0f);
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float remaining = sqrtf(max * max - (v0(0) * v0(0)));
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ut_assert_true(fabsf(v_r(1)) - remaining < FLT_EPSILON && v_r(1) < FLT_EPSILON);
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//TODO: add more tests with vectors not perpendicular
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return true;
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}
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bool ControlMathTest::crossSphereLineTest()
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{
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matrix::Vector3f prev = matrix::Vector3f(0.0f, 0.0f, 0.0f);
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matrix::Vector3f curr = matrix::Vector3f(0.0f, 0.0f, 2.0f);
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matrix::Vector3f 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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* Expected targets (1, 2, 3):
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* Far + + +
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*
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*
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* On trajectory -------1---------2---------3-------
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*
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*
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* Near + + +
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* On trajectory -------o---1---------2-----3-------
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*
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*
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* On trajectory --+----o----1----+--------2/3---+--
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*/
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// on line, near, before previous waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target A 0", res(0), 0.0f, 2);
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ut_compare_float("target A 1", res(1), 0.0f, 2);
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ut_compare_float("target A 2", res(2), 0.5f, 2);
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// on line, near, before target waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target B 0", res(0), 0.0f, 2);
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ut_compare_float("target B 1", res(1), 0.0f, 2);
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ut_compare_float("target B 2", res(2), 2.0f, 2);
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// on line, near, after target waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target C 0", res(0), 0.0f, 2);
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ut_compare_float("target C 1", res(1), 0.0f, 2);
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ut_compare_float("target C 2", res(2), 2.0f, 2);
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// near, before previous waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target D 0", res(0), 0.0f, 2);
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ut_compare_float("target D 1", res(1), 0.0f, 2);
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ut_compare_float("target D 2", res(2), 0.37f, 2);
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// near, before target waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target E 0", res(0), 0.0f, 2);
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ut_compare_float("target E 1", res(1), 0.0f, 2);
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ut_compare_float("target E 2", res(2), 1.87f, 2);
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// near, after target waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target F 0", res(0), 0.0f, 2);
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ut_compare_float("target F 1", res(1), 0.0f, 2);
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ut_compare_float("target F 2", res(2), 2.0f, 2);
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// far, before previous waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target G 0", res(0), 0.0f, 2);
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ut_compare_float("target G 1", res(1), 0.0f, 2);
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ut_compare_float("target G 2", res(2), 0.0f, 2);
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// far, before target waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target H 0", res(0), 0.0f, 2);
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ut_compare_float("target H 1", res(1), 0.0f, 2);
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ut_compare_float("target H 2", res(2), 1.0f, 2);
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// far, after target waypoint
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retval = ControlMath::cross_sphere_line(matrix::Vector3f(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_compare_float("target I 0", res(0), 0.0f, 2);
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ut_compare_float("target I 1", res(1), 0.0f, 2);
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ut_compare_float("target I 2", res(2), 2.0f, 2);
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return true;
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}
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ut_declare_test_c(test_controlmath, ControlMathTest)
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