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Matrix: convert integral test to gtest

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This commit is contained in:
Matthias Grob 2022-02-23 14:51:58 +01:00
parent 7c9e28c168
commit f5ec4b2339
3 changed files with 56 additions and 27 deletions
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2
src/lib/matrix/test/CMakeLists.txt
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@ -16,7 +16,6 @@ set(tests
vector
vector2
vector3
integration
squareMatrix
least_squares
upperRightTriangle
@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixDualTest.cpp)
px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
px4_add_unit_gtest(SRC MatrixHelperTest.cpp)
px4_add_unit_gtest(SRC MatrixIntegralTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

55
src/lib/matrix/test/MatrixIntegralTest.cpp Normal file
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@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (C) 2022 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.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <matrix/integration.hpp>
using namespace matrix;
Vector<float, 6> f(float t, const Matrix<float, 6, 1> & /*y*/, const Matrix<float, 3, 1> & /*u*/)
{
float v = -sin(t);
return v * ones<float, 6, 1>();
}
TEST(MatrixIntegralTest, Integral)
{
Vector<float, 6> y = ones<float, 6, 1>();
Vector<float, 3> u = ones<float, 3, 1>();
float t0 = 0;
float tf = 2;
float h = 0.001f;
integrate_rk4(f, y, u, t0, tf, h, y);
float v = 1 + cos(tf) - cos(t0);
EXPECT_EQ(y, (ones<float, 6, 1>()*v));
}

26
src/lib/matrix/test/integration.cpp
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@ -1,26 +0,0 @@
#include "test_macros.hpp"
#include <matrix/integration.hpp>
using namespace matrix;
Vector<float, 6> f(float t, const Matrix<float, 6, 1> & /*y*/, const Matrix<float, 3, 1> & /*u*/);
Vector<float, 6> f(float t, const Matrix<float, 6, 1> & /*y*/, const Matrix<float, 3, 1> & /*u*/)
{
float v = -sin(t);
return v * ones<float, 6, 1>();
}
int main()
{
Vector<float, 6> y = ones<float, 6, 1>();
Vector<float, 3> u = ones<float, 3, 1>();
float t0 = 0;
float tf = 2;
float h = 0.001f;
integrate_rk4(f, y, u, t0, tf, h, y);
float v = 1 + cos(tf) - cos(t0);
TEST(isEqual(y, (ones<float, 6, 1>()*v)));
return 0;
}