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