ActuatorEffectivenessMultirotorTest.cpp
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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.
*
****************************************************************************/
/**
* @file ActuatorEffectivenessMultirotorTest.cpp
*
* Tests for Control Allocation Algorithms
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include <gtest/gtest.h>
#include <ActuatorEffectivenessMultirotor.hpp>
using namespace matrix;
TEST(ActuatorEffectivenessMultirotorTest, AllZeroCase)
{
// Quad wide geometry
ActuatorEffectivenessMultirotor::MultirotorGeometry geometry = {};
geometry.rotors[0].position_x = 1.0f;
geometry.rotors[0].position_y = 1.0f;
geometry.rotors[0].position_z = 0.0f;
geometry.rotors[0].axis_x = 0.0f;
geometry.rotors[0].axis_y = 0.0f;
geometry.rotors[0].axis_z = -1.0f;
geometry.rotors[0].thrust_coef = 1.0f;
geometry.rotors[0].moment_ratio = 0.05f;
geometry.rotors[1].position_x = -1.0f;
geometry.rotors[1].position_y = -1.0f;
geometry.rotors[1].position_z = 0.0f;
geometry.rotors[1].axis_x = 0.0f;
geometry.rotors[1].axis_y = 0.0f;
geometry.rotors[1].axis_z = -1.0f;
geometry.rotors[1].thrust_coef = 1.0f;
geometry.rotors[1].moment_ratio = 0.05f;
geometry.rotors[2].position_x = 1.0f;
geometry.rotors[2].position_y = -1.0f;
geometry.rotors[2].position_z = 0.0f;
geometry.rotors[2].axis_x = 0.0f;
geometry.rotors[2].axis_y = 0.0f;
geometry.rotors[2].axis_z = -1.0f;
geometry.rotors[2].thrust_coef = 1.0f;
geometry.rotors[2].moment_ratio = -0.05f;
geometry.rotors[3].position_x = -1.0f;
geometry.rotors[3].position_y = 1.0f;
geometry.rotors[3].position_z = 0.0f;
geometry.rotors[3].axis_x = 0.0f;
geometry.rotors[3].axis_y = 0.0f;
geometry.rotors[3].axis_z = -1.0f;
geometry.rotors[3].thrust_coef = 1.0f;
geometry.rotors[3].moment_ratio = -0.05f;
matrix::Matrix<float, ActuatorEffectiveness::NUM_AXES, ActuatorEffectiveness::NUM_ACTUATORS> effectiveness =
ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(geometry);
const float expected[ActuatorEffectiveness::NUM_AXES][ActuatorEffectiveness::NUM_ACTUATORS] = {
{-1.0f, 1.0f, 1.0f, -1.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 1.0f, -1.0f, 1.0f, -1.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.05f, 0.05f, -0.05f, -0.05f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
{-1.0f, -1.0f, -1.0f, -1.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
};
matrix::Matrix<float, ActuatorEffectiveness::NUM_AXES, ActuatorEffectiveness::NUM_ACTUATORS> effectiveness_expected(
expected);
EXPECT_EQ(effectiveness, effectiveness_expected);
}