Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[tools] Translate unit tests to catch2 (#9006)

Browse Source
This commit is contained in:
Peter Johnson
2026-06-21 19:24:30 -07:00
committed by GitHub
parent edbf2db5a7
commit 912938b434
16 changed files with 217 additions and 159 deletions
Download Patch File Download Diff File Expand all files Collapse all files

64
tools/sysid/src/test/native/cpp/analysis/OLSTest.cpp
View File

@@ -4,39 +4,75 @@
#include "wpi/sysid/analysis/OLS.hpp"
#include <gtest/gtest.h>
#ifndef NDEBUG
#ifndef _WIN32
#include <sys/wait.h>
#include <unistd.h>
TEST(OLSTest, TwoVariablesTwoPoints) {
#include <csignal>
#include <cstdio>
#endif
#endif
#include <catch2/catch_approx.hpp>
#include <catch2/catch_test_macros.hpp>
#ifndef NDEBUG
#ifndef _WIN32
namespace {
template <typename F>
bool Dies(F&& f) {
pid_t pid = fork();
REQUIRE(pid >= 0);
if (pid == 0) {
std::signal(SIGABRT, SIG_DFL);
std::freopen("/dev/null", "w", stderr);
f();
_exit(0);
}
int status = 0;
REQUIRE(waitpid(pid, &status, 0) == pid);
return WIFSIGNALED(status) || (WIFEXITED(status) && WEXITSTATUS(status) != 0);
}
} // namespace
#endif
#endif
TEST_CASE("OLSTest TwoVariablesTwoPoints", "[sysid]") {
// (1, 3) and (2, 5). Should produce y = 2x + 1.
Eigen::MatrixXd X{{1.0, 1.0}, {1.0, 2.0}};
Eigen::VectorXd y{{3.0}, {5.0}};
auto [coeffs, rSquared, rmse] = sysid::OLS(X, y);
EXPECT_EQ(coeffs.size(), 2u);
CHECK(coeffs.size() == 2u);
EXPECT_NEAR(coeffs[0], 1.0, 1e-12);
EXPECT_NEAR(coeffs[1], 2.0, 1e-12);
EXPECT_DOUBLE_EQ(rSquared, 1.0);
CHECK(coeffs[0] == Catch::Approx(1.0).margin(1e-12));
CHECK(coeffs[1] == Catch::Approx(2.0).margin(1e-12));
CHECK(rSquared == Catch::Approx(1.0).margin(1e-12));
}
TEST(OLSTest, TwoVariablesFivePoints) {
TEST_CASE("OLSTest TwoVariablesFivePoints", "[sysid]") {
// (2, 4), (3, 5), (5, 7), (7, 10), (9, 15)
// Should produce 1.518x + 0.305.
Eigen::MatrixXd X{{1, 2}, {1, 3}, {1, 5}, {1, 7}, {1, 9}};
Eigen::VectorXd y{{4}, {5}, {7}, {10}, {15}};
auto [coeffs, rSquared, rmse] = sysid::OLS(X, y);
EXPECT_EQ(coeffs.size(), 2u);
CHECK(coeffs.size() == 2u);
EXPECT_NEAR(coeffs[0], 0.30487804878048774, 1e-12);
EXPECT_NEAR(coeffs[1], 1.5182926829268293, 1e-12);
EXPECT_DOUBLE_EQ(rSquared, 0.91906029466386019);
CHECK(coeffs[0] == Catch::Approx(0.30487804878048774).margin(1e-12));
CHECK(coeffs[1] == Catch::Approx(1.5182926829268293).margin(1e-12));
CHECK(rSquared == Catch::Approx(0.91906029466386019).margin(1e-12));
}
#ifndef NDEBUG
TEST(OLSTest, MalformedData) {
#if !defined(NDEBUG) && !defined(_WIN32)
TEST_CASE("OLSTest MalformedData", "[sysid]") {
Eigen::MatrixXd X{{1, 2}, {1, 3}, {1, 4}};
Eigen::VectorXd y{{4}, {5}};
EXPECT_DEATH(sysid::OLS(X, y), "");
CHECK(Dies([&] { sysid::OLS(X, y); }));
}
#endif