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/**
 * @file ControlAllocationTest.cpp
 *
 * Tests for Control Allocation Algorithms
 *
 * @author Julien Lecoeur <julien.lecoeur@gmail.com>
 */

#include <gtest/gtest.h>
#include <ControlAllocationPseudoInverse.hpp>

using namespace matrix;

TEST(ControlAllocationTest, AllZeroCase)
{
	ControlAllocationPseudoInverse method;

	matrix::Vector<float, 6> control_sp;
	matrix::Vector<float, 6> control_allocated;
	matrix::Vector<float, 6> control_allocated_expected;
	matrix::Matrix<float, 6, 16> effectiveness;
	matrix::Vector<float, 16> actuator_sp;
	matrix::Vector<float, 16> actuator_trim;
	matrix::Vector<float, 16> linearization_point;
	matrix::Vector<float, 16> actuator_sp_expected;

	method.setEffectivenessMatrix(effectiveness, actuator_trim, linearization_point, 16, false);
	method.setControlSetpoint(control_sp);
	method.allocate();
	method.clipActuatorSetpoint();
	actuator_sp = method.getActuatorSetpoint();
	control_allocated_expected = method.getAllocatedControl();

	EXPECT_EQ(actuator_sp, actuator_sp_expected);
	EXPECT_EQ(control_allocated, control_allocated_expected);
}