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77b11129fa
* added python script with ekf derivation (WIP) Signed-off-by: RomanBapst <bapstroman@gmail.com> * worked on c code auto-generation Signed-off-by: RomanBapst <bapstroman@gmail.com> * save before variable name change Signed-off-by: RomanBapst <bapstroman@gmail.com> * changed symbol names Signed-off-by: RomanBapst <bapstroman@gmail.com> * added codegeneration class Signed-off-by: RomanBapst <bapstroman@gmail.com> * improve 3D mag fusion derivation Signed-off-by: RomanBapst <bapstroman@gmail.com> * EKF: Extend ekf sympy derivation to include all observation types * EKF: Add custom ecl::powf function for integer powers * EKF: Convert ekf covariance prediction to use sympy output * EKF: Add test program to compare sympy and matlab covariance prediction Also tests ecl::powf(x,exp) function * EKF: simplify ecl::powf function * Generate code to subfolder generated/ * Add printouts for showing code generation progress * Move generated covariance code to generated folder * Upgrade code generation to python3 * main.py: Remove unused create_symbols function & making code more compact * main.py: move main part into function * Code generation: fix passing wrong rotation matrix to yaw_observation () * EKF: Amend generated code filename for consistency * Move ecl::powf function test to unit tests * EKF: Use updated ecl:powf functionality in test program * Move ecl::powf to utils.hpp * Update ecl::powf test * Update output change indication * test: update expected output for change indicator * test: update expected output for change indicator again Co-authored-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: kamilritz <kritz@ethz.ch>
65 lines
2.4 KiB
CMake
65 lines
2.4 KiB
CMake
############################################################################
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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 ECL 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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include(gtest.cmake)
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add_subdirectory(sensor_simulator)
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add_subdirectory(test_helper)
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set(SRCS
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main.cpp
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test_EKF_basics.cpp
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test_EKF_ringbuffer.cpp
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test_EKF_measurementSampling.cpp
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test_EKF_imuSampling.cpp
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test_AlphaFilter.cpp
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test_EKF_fusionLogic.cpp
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test_EKF_initialization.cpp
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test_EKF_gps_yaw.cpp
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test_EKF_gps.cpp
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test_EKF_externalVision.cpp
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test_EKF_airspeed.cpp
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test_EKF_withReplayData.cpp
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test_EKF_flow.cpp
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test_EKF_terrain_estimator.cpp
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test_SensorRangeFinder.cpp
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test_geo.cpp
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test_geo_lookup.cpp
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test_EKF_utils.cpp
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)
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add_executable(ECL_GTESTS ${SRCS})
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target_link_libraries(ECL_GTESTS gtest_main ecl_EKF ecl_sensor_sim ecl_test_helper)
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add_test(NAME ECL_GTESTS COMMAND ECL_GTESTS)
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