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100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL 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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* @file test_EKF_utils.cpp
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*
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* @brief Unit tests for the miscellaneous EKF utilities
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*/
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#include <gtest/gtest.h>
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#include <cmath>
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#include <vector>
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#include <mathlib/mathlib.h>
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#include "EKF/utils.hpp"
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TEST(eclPowfTest, compareToStandardImplementation)
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{
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std::vector<int> exponents = {-3,-2,-1,-0,0,1,2,3};
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std::vector<float> bases = {-INFINITY, -11.1f,-0.5f, -0.f, 0.f, 0.5f, 11.1f, INFINITY};
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for (auto const exponent : exponents) {
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for (auto const basis : bases) {
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EXPECT_EQ(ecl::powf(basis, exponent),
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std::pow(basis, static_cast<float>(exponent)));
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}
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}
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}
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TEST(euler312YawTest, fromQuaternion)
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{
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matrix::Quatf q1(3.5f,2.4f,-0.5f,-3.f);
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q1.normalize();
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const matrix::Eulerf euler1(q1);
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EXPECT_FLOAT_EQ(euler1(2), getEuler321Yaw(q1));
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matrix::Quatf q2(0.f,0,-1.f,0.f);
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q2.normalize();
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const matrix::Eulerf euler2(q2);
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EXPECT_FLOAT_EQ(euler2(2), getEuler321Yaw(q2));
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}
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TEST(shouldUse321RotationSequenceTest, pitch90)
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{
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matrix::Eulerf euler(0.f, math::radians(90), 0.f);
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matrix::Dcmf R(euler);
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EXPECT_FALSE(shouldUse321RotationSequence(R));
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}
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TEST(shouldUse321RotationSequenceTest, roll90)
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{
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matrix::Eulerf euler(math::radians(90.f), 0.f, 0.f);
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matrix::Dcmf R(euler);
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EXPECT_TRUE(shouldUse321RotationSequence(R));
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}
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TEST(shouldUse321RotationSequenceTest, moreRollThanPitch)
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{
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matrix::Eulerf euler(math::radians(45.f), math::radians(30.f), 0.f);
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matrix::Dcmf R(euler);
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EXPECT_TRUE(shouldUse321RotationSequence(R));
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}
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TEST(shouldUse321RotationSequenceTest, morePitchThanRoll)
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{
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matrix::Eulerf euler(math::radians(30.f), math::radians(45.f), 0.f);
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matrix::Dcmf R(euler);
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EXPECT_FALSE(shouldUse321RotationSequence(R));
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}
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