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93 lines
3.3 KiB
C++
93 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2024 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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#include <cfloat>
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#include <gtest/gtest.h>
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#include "EKF/ekf.h"
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#include "test_helper/comparison_helper.h"
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#include "../EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h"
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#include "../EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h"
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using namespace matrix;
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TEST(FlowGenerated, distBottom0xy)
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{
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// GIVEN: 0 distance to the ground (singularity)
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StateSample state{};
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state.quat_nominal = Quatf();
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const float R = sq(radians(sq(0.5f)));
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SquareMatrixState P = createRandomCovarianceMatrix();
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VectorState H;
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Vector2f innov_var;
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sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
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EXPECT_GT(innov_var(0), 1e12);
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EXPECT_GT(innov_var(1), 1e12);
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}
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TEST(FlowGenerated, distBottom0y)
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{
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// GIVEN: 0 distance to the ground (singularity)
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StateSample state{};
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state.quat_nominal = Quatf();
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const float R = sq(radians(sq(0.5f)));
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SquareMatrixState P = createRandomCovarianceMatrix();
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VectorState H;
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float innov_var;
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sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
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EXPECT_GT(innov_var, 1e12);
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}
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TEST(FlowGenerated, distBottomNeg)
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{
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// GIVEN: a small negative distance to the ground (singularity)
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StateSample state{};
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state.quat_nominal = Quatf();
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state.pos(2) = 1e-3f;
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const float R = sq(radians(sq(0.5f)));
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SquareMatrixState P = createRandomCovarianceMatrix();
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VectorState H;
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Vector2f innov_var;
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sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
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EXPECT_GT(innov_var(0), 1e6);
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EXPECT_GT(innov_var(1), 1e6);
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sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var(1), &H);
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EXPECT_GT(innov_var(1), 1e6);
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}
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