mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-13 08:47:35 +08:00
Daniel Agar
88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2019 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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/**
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* Test code for the Manual Velocity Smoothing library
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* Run this test only using make tests TESTFILTER=ManualVelocitySmoothing
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*/
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#include <gtest/gtest.h>
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#include <matrix/matrix/math.hpp>
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#include "ManualVelocitySmoothingXY.hpp"
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using namespace matrix;
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class ManualVelocitySmoothingXYTest : public ::testing::Test
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{
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public:
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ManualVelocitySmoothingXY _smoothing;
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};
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TEST_F(ManualVelocitySmoothingXYTest, setGet)
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{
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// GIVEN: Some max values
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_smoothing.setMaxJerk(11.f);
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_smoothing.setMaxAccel(7.f);
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_smoothing.setMaxVel(5.f);
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// THEN: We should be able to get them back
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EXPECT_FLOAT_EQ(_smoothing.getMaxJerk(), 11.f);
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EXPECT_FLOAT_EQ(_smoothing.getMaxAccel(), 7.f);
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EXPECT_FLOAT_EQ(_smoothing.getMaxVel(), 5.f);
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}
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TEST_F(ManualVelocitySmoothingXYTest, getCurrentState)
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{
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// GIVEN: the initial conditions
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Vector2f v0(11.f, 13.f);
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_smoothing.setCurrentVelocity(v0);
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// WHEN: we get the current state
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Vector3f j_end;
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Vector3f a_end;
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Vector3f v_end;
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Vector3f x_end;
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j_end.xy() = _smoothing.getCurrentJerk();
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a_end.xy() = _smoothing.getCurrentAcceleration();
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v_end.xy() = _smoothing.getCurrentVelocity();
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x_end.xy() = _smoothing.getCurrentPosition();
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// THEN: the returned values should match the input
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EXPECT_EQ(j_end, Vector3f(0.f, 0.f, 0.f));
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EXPECT_EQ(a_end, Vector3f(0.f, 0.f, 0.f));
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EXPECT_EQ(v_end, Vector3f(11.f, 13.f, 0.f));
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EXPECT_EQ(x_end, Vector3f(0.f, 0.f, 0.f));
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}
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