SlewRateYawTest.cpp
4.19 KB
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/****************************************************************************
*
* Copyright (C) 2020 PX4 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.
*
****************************************************************************/
#include <gtest/gtest.h>
#include "SlewRateYaw.hpp"
TEST(SlewRateYawTest, SlewUpLimited)
{
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(.15f);
_slew_rate_yaw.setForcedValue(1.1f);
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 1.1f + i * .15f);
}
}
TEST(SlewRateYawTest, SlewDownLimited)
{
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(.1f);
_slew_rate_yaw.setForcedValue(.5f);
for (int i = 1; i <= 10; i++) {
EXPECT_NEAR(_slew_rate_yaw.update(-2.f, 1.f), .5f - i * .1f, 1e-7f);
}
}
TEST(SlewRateYawTest, ReachValueSlewed)
{
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(.2f);
_slew_rate_yaw.setForcedValue(1.f);
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 1.f + i * .2f);
}
for (int i = 1; i <= 10; i++) {
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 3.f);
}
}
TEST(SlewRateYawTest, SlewUpWrappedOutput)
{
// put the goal value always a bit further away such that at some point the output has to wrap
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(.2f);
_slew_rate_yaw.setForcedValue(0.f);
for (int i = 1; i <= 30; i++) {
EXPECT_NEAR(_slew_rate_yaw.update(i * .25f, 1.f), matrix::wrap_pi(i * .2f), 1e-5f);
}
}
TEST(SlewRateYawTest, SlewDownWrappedOutput)
{
// put the goal value always a bit further away such that at some point the output has to wrap
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(.2f);
_slew_rate_yaw.setForcedValue(0.f);
for (int i = 1; i <= 50; i++) {
EXPECT_NEAR(_slew_rate_yaw.update(i * -.25f, 1.f), matrix::wrap_pi(i * -.2f), 1e-5f);
}
}
TEST(SlewRateYawTest, SlewUpWrappedInput)
{
// put the goal value always a bit further away such that at some point the output has to wrap
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(.2f);
_slew_rate_yaw.setForcedValue(0.f);
for (int i = 1; i <= 50; i++) {
EXPECT_NEAR(_slew_rate_yaw.update(matrix::wrap_pi(i * .25f), 1.f), matrix::wrap_pi(i * .2f), 1e-5f);
}
}
TEST(SlewRateYawTest, SlewShortWayInput)
{
SlewRateYaw<float> _slew_rate_yaw;
_slew_rate_yaw.setSlewRate(1.f);
_slew_rate_yaw.setForcedValue(0.f);
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), 1.f);
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(5.f, 1.f), 0.f);
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(5.f, 1.f), -1.f);
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(4.f, 1.f), -2.f);
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(3.f, 1.f), -3.f);
EXPECT_FLOAT_EQ(_slew_rate_yaw.update(5.f, 1.f), -2.f);
}