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mathlib: add second order reference model filter with optional rate feedback (#19246)

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mathlib: add second order reference model filter with optional rate feedback (#19246)

Reference models can be used as filters which exhibit a particular, chosen (reference) dynamic behavior. This PR implements a simple second order transfer function which can be used as such a reference model, additionally with rate feedback. The system is parameterized by explicitly set natural frequency and damping ratio. Another nice externality is that the output state and rate are kinematically consistent. Forward-euler and bilinear transform discretizations for the state space integration step are available.
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Thomas Stastny
2022-04-05 10:31:41 +02:00
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parent 80aef942cd
commit e4b11c49c3
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src/lib/mathlib/math/test/second_order_reference_model_test.cpp
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/**
* @file second_order_reference_model_test.cpp
*
* @brief Unit tests for the second order reference model implementation
*/
#include <gtest/gtest.h>
#include <matrix/math.hpp>
#include <lib/mathlib/math/filter/second_order_reference_model.hpp>
using math::SecondOrderReferenceModel;
using matrix::Vector3f;
TEST(SecondOrderReferenceModel, FloatDefaultConstructorInitializesStatesToZero)
{
SecondOrderReferenceModel<float> sys_float;
// default constructor leaves states initialized to zero
EXPECT_FLOAT_EQ(sys_float.getState(), 0.0f);
EXPECT_FLOAT_EQ(sys_float.getRate(), 0.0f);
EXPECT_FLOAT_EQ(sys_float.getAccel(), 0.0f);
}
TEST(SecondOrderReferenceModel, FloatReset)
{
SecondOrderReferenceModel<float> sys_float;
// reset the system states
float init_state = 3.0f;
float init_rate = 1.1f;
sys_float.reset(init_state, init_rate);
EXPECT_FLOAT_EQ(sys_float.getState(), init_state);
EXPECT_FLOAT_EQ(sys_float.getRate(), init_rate);
EXPECT_FLOAT_EQ(sys_float.getAccel(), 0.0f);
// reset the system without providing rate
init_state = 5.5f;
sys_float.reset(init_state);
EXPECT_FLOAT_EQ(sys_float.getState(), init_state);
EXPECT_FLOAT_EQ(sys_float.getRate(), 0.0f);
EXPECT_FLOAT_EQ(sys_float.getAccel(), 0.0f);
}
TEST(SecondOrderReferenceModel, Vector3DefaultConstructorInitializesStatesToZero)
{
SecondOrderReferenceModel<Vector3f> sys_vector3f;
// default constructor leaves states initialized to zero
Vector3f state = sys_vector3f.getState();
EXPECT_FLOAT_EQ(state(0), 0.0f);
EXPECT_FLOAT_EQ(state(1), 0.0f);
EXPECT_FLOAT_EQ(state(2), 0.0f);
Vector3f rate = sys_vector3f.getRate();
EXPECT_FLOAT_EQ(rate(0), 0.0f);
EXPECT_FLOAT_EQ(rate(1), 0.0f);
EXPECT_FLOAT_EQ(rate(2), 0.0f);
Vector3f accel = sys_vector3f.getAccel();
EXPECT_FLOAT_EQ(accel(0), 0.0f);
EXPECT_FLOAT_EQ(accel(1), 0.0f);
EXPECT_FLOAT_EQ(accel(2), 0.0f);
}
TEST(SecondOrderReferenceModel, Vector3Reset)
{
SecondOrderReferenceModel<Vector3f> sys_vector3f;
// reset the system states
Vector3f init_state(1.0f, 2.0f, 3.0f);
Vector3f init_rate(0.1f, 0.2f, 0.3f);
sys_vector3f.reset(init_state, init_rate);
Vector3f state = sys_vector3f.getState();
EXPECT_FLOAT_EQ(state(0), init_state(0));
EXPECT_FLOAT_EQ(state(1), init_state(1));
EXPECT_FLOAT_EQ(state(2), init_state(2));
Vector3f rate = sys_vector3f.getRate();
EXPECT_FLOAT_EQ(rate(0), init_rate(0));
EXPECT_FLOAT_EQ(rate(1), init_rate(1));
EXPECT_FLOAT_EQ(rate(2), init_rate(2));
Vector3f accel = sys_vector3f.getAccel();
EXPECT_FLOAT_EQ(accel(0), 0.0f);
EXPECT_FLOAT_EQ(accel(1), 0.0f);
EXPECT_FLOAT_EQ(accel(2), 0.0f);
// reset the system without providing rate
init_state = Vector3f(4.0f, 5.0f, 6.0f);
sys_vector3f.reset(init_state);
state = sys_vector3f.getState();
EXPECT_FLOAT_EQ(state(0), init_state(0));
EXPECT_FLOAT_EQ(state(1), init_state(1));
EXPECT_FLOAT_EQ(state(2), init_state(2));
rate = sys_vector3f.getRate();
EXPECT_FLOAT_EQ(rate(0), 0.0f);
EXPECT_FLOAT_EQ(rate(1), 0.0f);
EXPECT_FLOAT_EQ(rate(2), 0.0f);
accel = sys_vector3f.getAccel();
EXPECT_FLOAT_EQ(accel(0), 0.0f);
EXPECT_FLOAT_EQ(accel(1), 0.0f);
EXPECT_FLOAT_EQ(accel(2), 0.0f);
}