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https://github.com/wpilibsuite/allwpilib
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43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include "sysid/analysis/OLS.h"
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TEST(OLSTest, TwoVariablesTwoPoints) {
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// (1, 3) and (2, 5). Should produce y = 2x + 1.
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Eigen::MatrixXd X{{1.0, 1.0}, {1.0, 2.0}};
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Eigen::VectorXd y{{3.0}, {5.0}};
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auto [coefficients, cod, rmse] = sysid::OLS(X, y);
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EXPECT_EQ(coefficients.size(), 2u);
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EXPECT_NEAR(coefficients[0], 1.0, 0.05);
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EXPECT_NEAR(coefficients[1], 2.0, 0.05);
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EXPECT_NEAR(cod, 1.0, 1E-4);
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}
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TEST(OLSTest, TwoVariablesFivePoints) {
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// (2, 4), (3, 5), (5, 7), (7, 10), (9, 15)
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// Should produce 1.518x + 0.305.
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Eigen::MatrixXd X{{1, 2}, {1, 3}, {1, 5}, {1, 7}, {1, 9}};
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Eigen::VectorXd y{{4}, {5}, {7}, {10}, {15}};
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auto [coefficients, cod, rmse] = sysid::OLS(X, y);
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EXPECT_EQ(coefficients.size(), 2u);
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EXPECT_NEAR(coefficients[0], 0.305, 0.05);
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EXPECT_NEAR(coefficients[1], 1.518, 0.05);
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EXPECT_NEAR(cod, 0.985, 0.05);
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}
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#ifndef NDEBUG
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TEST(OLSTest, MalformedData) {
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Eigen::MatrixXd X{{1, 2}, {1, 3}, {1, 4}};
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Eigen::VectorXd y{{4}, {5}};
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EXPECT_DEATH(sysid::OLS(X, y), "");
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}
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#endif
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