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/* |
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* Copyright 2019, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#include <iostream> |
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#include <sot/core/debug.hh> |
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#ifndef WIN32 |
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#include <unistd.h> |
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#endif |
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using namespace std; |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/factory.h> |
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#include <sot/core/madgwickahrs.hh> |
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#include <sstream> |
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using namespace dynamicgraph; |
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using namespace dynamicgraph::sot; |
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#define BOOST_TEST_MODULE test - filter - differentiator |
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#include <boost/test/output_test_stream.hpp> |
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#include <boost/test/unit_test.hpp> |
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using boost::test_tools::output_test_stream; |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
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BOOST_AUTO_TEST_CASE(test_filter_differentiator) { |
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✓✗✓✗ ✓✗ |
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sot::MadgwickAHRS *aFilter = new MadgwickAHRS("MadgwickAHRS"); |
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double timestep = 0.001, beta = 0.01; |
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✓✗ | 2 |
aFilter->init(timestep); |
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✓✗ | 2 |
aFilter->set_beta(beta); |
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srand(0); |
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✓✗ | 4 |
dynamicgraph::Vector acc(3); |
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✓✗ | 4 |
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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✓✗✓✗ |
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output_test_stream output; |
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✓✗ | 4 |
ostringstream anoss; |
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✓✗ | 2 |
aFilter->m_imu_quatSOUT.get(output); |
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✓✗ | 2 |
aFilter->m_imu_quatSOUT.get(anoss); |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
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BOOST_CHECK( |
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output.is_equal("1 " |
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"5.5547e-05 " |
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"-5.83205e-05 " |
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"0.00015")); |
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} |
Generated by: GCOVR (Version 4.2) |