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Add return-to-zero test for LinearDigitalFilter moving average (#751)

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Ensures LinearDigitalFilter moving average returns to zero after non-zero
values are inserted.

Tests for issue #642
This commit is contained in:
Tyler Veness
2017-11-19 20:16:09 -08:00
committed by Peter Johnson
parent 11f37683c3
commit 7a0dd9baa9
4 changed files with 89 additions and 39 deletions
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33
wpilibcIntegrationTests/src/FRCUserProgram/cpp/FilterOutputTest.cpp
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@@ -19,7 +19,12 @@
using namespace frc;
enum FilterOutputTestType { TEST_SINGLE_POLE_IIR, TEST_HIGH_PASS, TEST_MOVAVG };
enum FilterOutputTestType {
TEST_SINGLE_POLE_IIR,
TEST_HIGH_PASS,
TEST_MOVAVG,
TEST_PULSE
};
std::ostream& operator<<(std::ostream& os, const FilterOutputTestType& type) {
switch (type) {
@@ -32,6 +37,9 @@ std::ostream& operator<<(std::ostream& os, const FilterOutputTestType& type) {
case TEST_MOVAVG:
os << "LinearDigitalFilter MovingAverage";
break;
case TEST_PULSE:
os << "LinearDigitalFilter Pulse";
break;
}
return os;
@@ -70,11 +78,18 @@ class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
return 100.0 * std::sin(2.0 * M_PI * t) + 20.0 * std::cos(50.0 * M_PI * t);
}
void SetUp() override {
m_data = std::make_shared<DataWrapper>(GetData);
static double GetPulseData(double t) {
if (std::abs(t - 1.0) < 0.001) {
return 1.0;
} else {
return 0.0;
}
}
void SetUp() override {
switch (GetParam()) {
case TEST_SINGLE_POLE_IIR: {
m_data = std::make_shared<DataWrapper>(GetData);
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::SinglePoleIIR(
m_data, TestBench::kSinglePoleIIRTimeConstant,
@@ -84,6 +99,7 @@ class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
}
case TEST_HIGH_PASS: {
m_data = std::make_shared<DataWrapper>(GetData);
m_filter =
std::make_unique<LinearDigitalFilter>(LinearDigitalFilter::HighPass(
m_data, TestBench::kHighPassTimeConstant,
@@ -93,11 +109,20 @@ class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
}
case TEST_MOVAVG: {
m_data = std::make_shared<DataWrapper>(GetData);
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::MovingAverage(m_data, TestBench::kMovAvgTaps));
m_expectedOutput = TestBench::kMovAvgExpectedOutput;
break;
}
case TEST_PULSE: {
m_data = std::make_shared<DataWrapper>(GetPulseData);
m_filter = std::make_unique<LinearDigitalFilter>(
LinearDigitalFilter::MovingAverage(m_data, TestBench::kMovAvgTaps));
m_expectedOutput = 0.0;
break;
}
}
}
};
@@ -122,4 +147,4 @@ TEST_P(FilterOutputTest, FilterOutput) {
INSTANTIATE_TEST_CASE_P(Test, FilterOutputTest,
testing::Values(TEST_SINGLE_POLE_IIR, TEST_HIGH_PASS,
TEST_MOVAVG));
TEST_MOVAVG, TEST_PULSE));