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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Daniel Agar
84b6b472b4
* ekf2-test: remove outdated codegen comparison The definition of states changed so the comparison with the old derivation cannot work anymore. --------- Co-authored-by: bresch <brescianimathieu@gmail.com>
57 lines
2.2 KiB
C++
57 lines
2.2 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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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(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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