mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-01 23:24:06 +08:00
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>
58 lines
2.2 KiB
C++
58 lines
2.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 ECL 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file test_EKF_utils.cpp
|
|
*
|
|
* @brief Unit tests for the miscellaneous EKF utilities
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
#include <cmath>
|
|
#include <vector>
|
|
|
|
#include "EKF/utils.hpp"
|
|
|
|
TEST(eclPowfTest, compareToStandardImplementation)
|
|
{
|
|
std::vector<int> exponents = {-3,-2,-1,-0,0,1,2,3};
|
|
std::vector<float> bases = {-INFINITY, -11.1f,-0.5f, -0.f, 0.f, 0.5f, 11.1f, INFINITY};
|
|
|
|
for (auto const exponent : exponents) {
|
|
for (auto const basis : bases) {
|
|
EXPECT_EQ(ecl::powf(basis, exponent),
|
|
std::pow(basis, static_cast<float>(exponent)));
|
|
}
|
|
}
|
|
}
|