test_EKF_withReplayData.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.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <math.h>
#include <memory>
#include "EKF/ekf.h"
#include "sensor_simulator/sensor_simulator.h"
#include "sensor_simulator/ekf_wrapper.h"
#include "sensor_simulator/ekf_logger.h"
class EkfReplayTest : public ::testing::Test {
public:
EkfReplayTest(): ::testing::Test(),
_ekf{std::make_shared<Ekf>()},
_sensor_simulator(_ekf),
_ekf_wrapper(_ekf),
_ekf_logger(_ekf) {};
std::shared_ptr<Ekf> _ekf;
SensorSimulator _sensor_simulator;
EkfWrapper _ekf_wrapper;
EkfLogger _ekf_logger;
};
TEST_F(EkfReplayTest, irisGps)
{
_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/iris_gps.csv");
_ekf_logger.setFilePath("../../../test/change_indication/iris_gps.csv");
// Start simulation and enable fusion of additional sensor types here
// By default the IMU, Baro and Mag sensor simulators are already running
_sensor_simulator.startGps();
_ekf_wrapper.enableGpsFusion();
uint8_t logging_rate_hz = 10;
for(int i = 0; i < 35 * logging_rate_hz; ++i)
{
_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz);
_ekf_logger.writeStateToFile();
}
}
TEST_F(EkfReplayTest, ekfGsfReset)
{
_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/ekf_gsf_reset.csv");
_ekf_logger.setFilePath("../../../test/change_indication/ekf_gsf_reset.csv");
// Start simulation and enable fusion of additional sensor types here
// By default the IMU, Baro and Mag sensor simulators are already running
_sensor_simulator.startGps();
_ekf_wrapper.enableGpsFusion();
auto params = _ekf->getParamHandle();
params->gps_vel_innov_gate = 1.f;
params->gps_pos_innov_gate = 1.f;
params->EKFGSF_reset_delay = 500000;
uint8_t logging_rate_hz = 10;
for(int i = 0; i < 39 * logging_rate_hz; ++i)
{
_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz);
_ekf_logger.writeStateToFile();
}
}