/****************************************************************************
 *
 *   Copyright (c) 2021 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 "MovingDiff.hpp"
#include <gtest/gtest.h>

TEST(MovingDiffTest, RcInputContinuous)
{
	MovingDiff _diff;
	EXPECT_FLOAT_EQ(_diff.update(0.0f, 0.0f), 0.f); // 0,0,0
	EXPECT_FLOAT_EQ(_diff.update(1.0f, 1.0f), 0.f); // 1*,0,0
	EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 1,-1*,0
	EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 0,-1,0*
	EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 0*,-1,0
	EXPECT_FLOAT_EQ(_diff.update(1.0f, 1.0f), 0.f); // 0,1*,0
	EXPECT_FLOAT_EQ(_diff.update(0.0f, 1.0f), 0.f); // 0,1,-1*
	EXPECT_FLOAT_EQ(_diff.update(2.0f, 1.0f), 1.f); // 2*,1,-1
	EXPECT_FLOAT_EQ(_diff.update(4.0f, 1.0f), 2.f); // 2,2*,-1
}