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118 lines
3.7 KiB
C++
118 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Test code for the ArxRls class
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* Run this test only using make tests TESTFILTER=arx_rls
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*/
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#include <gtest/gtest.h>
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#include <matrix/matrix/math.hpp>
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#include "arx_rls.hpp"
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using namespace matrix;
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class ArxRlsTest : public ::testing::Test
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{
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public:
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ArxRlsTest() {};
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};
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TEST_F(ArxRlsTest, test211)
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{
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ArxRls<2, 1, 1> _rls;
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for (int i = 0; i < (2 + 1 + 1); i++) {
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// Fill the buffers with zeros
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_rls.update(0.f, 0.f);
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}
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_rls.update(1, 2);
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_rls.update(3, 4);
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_rls.update(5, 6);
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const Vector<float, 4> coefficients = _rls.getCoefficients();
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float data_check[] = {-1.79f, 0.97f, 0.42f, -0.48f}; // generated from Python script
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const Vector<float, 4> coefficients_check(data_check);
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float eps = 1e-2;
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EXPECT_TRUE((coefficients - coefficients_check).abs().max() < eps);
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}
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TEST_F(ArxRlsTest, test221)
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{
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ArxRls<2, 2, 1> _rls;
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for (int i = 0; i < (2 + 2 + 1); i++) {
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// Fill the buffers with zeros
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_rls.update(0.f, 0.f);
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}
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_rls.update(1, 2);
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_rls.update(3, 4);
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_rls.update(5, 6);
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_rls.update(7, 8);
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const Vector<float, 5> coefficients = _rls.getCoefficients();
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float data_check[] = {-1.81, 1.06f, 0.38f, -0.27f, 0.26f};
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const Vector<float, 5> coefficients_check(data_check);
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float eps = 1e-2;
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EXPECT_TRUE((coefficients - coefficients_check).abs().max() < eps);
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coefficients.print();
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coefficients_check.print();
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}
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TEST_F(ArxRlsTest, resetTest)
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{
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ArxRls<2, 2, 1> _rls;
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_rls.update(1, 2);
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_rls.update(3, 4);
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_rls.update(5, 6);
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_rls.update(7, 8);
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const Vector<float, 5> coefficients = _rls.getCoefficients();
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// WHEN: resetting
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_rls.reset();
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// THEN: the variances and coefficients should be properly reset
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EXPECT_TRUE(_rls.getVariances().min() > 5000.f);
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EXPECT_TRUE(_rls.getCoefficients().abs().max() < 1e-8f);
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// AND WHEN: running the same sequence of inputs-outputs
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_rls.update(1, 2);
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_rls.update(3, 4);
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_rls.update(5, 6);
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_rls.update(7, 8);
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// THEN: the result should be exactly the same
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EXPECT_TRUE((coefficients - _rls.getCoefficients()).abs().max() < 1e-8f);
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}
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