| Directory: | ./ |
|---|---|
| File: | tests/filters/test_madgwick_ahrs.cpp |
| Date: | 2024-11-13 12:35:17 |
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| Lines: | 23 | 23 | 100.0% |
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| 1 | /* | ||
| 2 | * Copyright 2019, | ||
| 3 | * Olivier Stasse, | ||
| 4 | * | ||
| 5 | * CNRS/AIST | ||
| 6 | * | ||
| 7 | */ | ||
| 8 | |||
| 9 | #include <iostream> | ||
| 10 | #include <sot/core/debug.hh> | ||
| 11 | |||
| 12 | #ifndef WIN32 | ||
| 13 | #include <unistd.h> | ||
| 14 | #endif | ||
| 15 | |||
| 16 | using namespace std; | ||
| 17 | |||
| 18 | #include <dynamic-graph/entity.h> | ||
| 19 | #include <dynamic-graph/factory.h> | ||
| 20 | |||
| 21 | #include <sot/core/madgwickahrs.hh> | ||
| 22 | #include <sstream> | ||
| 23 | |||
| 24 | using namespace dynamicgraph; | ||
| 25 | using namespace dynamicgraph::sot; | ||
| 26 | |||
| 27 | #define BOOST_TEST_MODULE test - filter - differentiator | ||
| 28 | |||
| 29 | #include <boost/test/output_test_stream.hpp> | ||
| 30 | #include <boost/test/unit_test.hpp> | ||
| 31 | |||
| 32 | using boost::test_tools::output_test_stream; | ||
| 33 | |||
| 34 |
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4 | BOOST_AUTO_TEST_CASE(test_filter_differentiator) { |
| 35 |
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2 | sot::MadgwickAHRS *aFilter = new MadgwickAHRS("MadgwickAHRS"); |
| 36 | |||
| 37 | 2 | double timestep = 0.001, beta = 0.01; | |
| 38 |
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2 | aFilter->init(timestep); |
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2 | aFilter->set_beta(beta); |
| 40 | |||
| 41 | 2 | srand(0); | |
| 42 |
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2 | dynamicgraph::Vector acc(3); |
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2 | dynamicgraph::Vector angvel(3); |
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2 | acc(0) = 0.3; |
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2 | acc(1) = 0.2; |
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2 | acc(2) = 0.3; |
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2 | aFilter->m_accelerometerSIN = acc; |
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2 | angvel(0) = 0.1; |
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2 | angvel(1) = -0.1; |
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2 | angvel(2) = 0.3; |
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2 | aFilter->m_gyroscopeSIN = angvel; |
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2 | aFilter->m_imu_quatSOUT.recompute(0); |
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2 | output_test_stream output; |
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2 | ostringstream anoss; |
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2 | aFilter->m_imu_quatSOUT.get(output); |
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2 | aFilter->m_imu_quatSOUT.get(anoss); |
| 57 | |||
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2 | BOOST_CHECK( |
| 59 | output.is_equal("1 " | ||
| 60 | "5.5547e-05 " | ||
| 61 | "-5.83205e-05 " | ||
| 62 | "0.00015")); | ||
| 63 | 2 | } | |
| 64 |