test_EKF_utils.cpp
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/****************************************************************************
*
* 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 <mathlib/mathlib.h>
#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)));
}
}
}
TEST(euler312YawTest, fromQuaternion)
{
matrix::Quatf q1(3.5f,2.4f,-0.5f,-3.f);
q1.normalize();
const matrix::Eulerf euler1(q1);
EXPECT_FLOAT_EQ(euler1(2), getEuler321Yaw(q1));
matrix::Quatf q2(0.f,0,-1.f,0.f);
q2.normalize();
const matrix::Eulerf euler2(q2);
EXPECT_FLOAT_EQ(euler2(2), getEuler321Yaw(q2));
}
TEST(shouldUse321RotationSequenceTest, pitch90)
{
matrix::Eulerf euler(0.f, math::radians(90), 0.f);
matrix::Dcmf R(euler);
EXPECT_FALSE(shouldUse321RotationSequence(R));
}
TEST(shouldUse321RotationSequenceTest, roll90)
{
matrix::Eulerf euler(math::radians(90.f), 0.f, 0.f);
matrix::Dcmf R(euler);
EXPECT_TRUE(shouldUse321RotationSequence(R));
}
TEST(shouldUse321RotationSequenceTest, moreRollThanPitch)
{
matrix::Eulerf euler(math::radians(45.f), math::radians(30.f), 0.f);
matrix::Dcmf R(euler);
EXPECT_TRUE(shouldUse321RotationSequence(R));
}
TEST(shouldUse321RotationSequenceTest, morePitchThanRoll)
{
matrix::Eulerf euler(math::radians(30.f), math::radians(45.f), 0.f);
matrix::Dcmf R(euler);
EXPECT_FALSE(shouldUse321RotationSequence(R));
}