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/**
 * Test code for pid_design functions
 * Run this test only using make tests TESTFILTER=pid_design
 */

#include <gtest/gtest.h>
#include <matrix/matrix/math.hpp>

#include "pid_design.hpp"

using namespace pid_design;
using namespace matrix;

TEST(PidDesignTest, testImpl)
{
	const Vector3f num(.0098f, -0.162f, .147f);
	const Vector3f den(1.f, -1.814f, .822f);
	const float dt = 0.004f;
	const Vector3f kid = computePidGmvc(num, den, dt, 0.1f, 1.f, 0.5f);

	// Compare with values generated from the python implementation
	EXPECT_NEAR(kid(0), 0.129f, .001f);
	EXPECT_NEAR(kid(1), 11.911f / 5.f, .001f);
	EXPECT_NEAR(kid(2), 0.0463f, .0001f);
}