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Template C++ LinearFilter to work with unit types (#2142)

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This commit is contained in:
Oblarg
2019-12-01 02:12:02 -05:00
committed by Peter Johnson
parent 5b73c17f25
commit 9a515c80f8
7 changed files with 76 additions and 100 deletions
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12
wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
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@@ -45,20 +45,20 @@ static double GetData(double t) {
class LinearFilterNoiseTest
: public testing::TestWithParam<LinearFilterNoiseTestType> {
protected:
std::unique_ptr<frc::LinearFilter> m_filter;
std::unique_ptr<frc::LinearFilter<double>> m_filter;
void SetUp() override {
switch (GetParam()) {
case TEST_SINGLE_POLE_IIR: {
m_filter = std::make_unique<frc::LinearFilter>(
frc::LinearFilter::SinglePoleIIR(kSinglePoleIIRTimeConstant,
kFilterStep));
m_filter = std::make_unique<frc::LinearFilter<double>>(
frc::LinearFilter<double>::SinglePoleIIR(kSinglePoleIIRTimeConstant,
kFilterStep));
break;
}
case TEST_MOVAVG: {
m_filter = std::make_unique<frc::LinearFilter>(
frc::LinearFilter::MovingAverage(kMovAvgTaps));
m_filter = std::make_unique<frc::LinearFilter<double>>(
frc::LinearFilter<double>::MovingAverage(kMovAvgTaps));
break;
}
}

21
wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
View File

@@ -73,40 +73,41 @@ static double GetPulseData(double t) {
class LinearFilterOutputTest
: public testing::TestWithParam<LinearFilterOutputTestType> {
protected:
std::unique_ptr<frc::LinearFilter> m_filter;
std::unique_ptr<frc::LinearFilter<double>> m_filter;
std::function<double(double)> m_data;
double m_expectedOutput = 0.0;
void SetUp() override {
switch (GetParam()) {
case TEST_SINGLE_POLE_IIR: {
m_filter = std::make_unique<frc::LinearFilter>(
frc::LinearFilter::SinglePoleIIR(kSinglePoleIIRTimeConstant,
kFilterStep));
m_filter = std::make_unique<frc::LinearFilter<double>>(
frc::LinearFilter<double>::SinglePoleIIR(kSinglePoleIIRTimeConstant,
kFilterStep));
m_data = GetData;
m_expectedOutput = kSinglePoleIIRExpectedOutput;
break;
}
case TEST_HIGH_PASS: {
m_filter = std::make_unique<frc::LinearFilter>(
frc::LinearFilter::HighPass(kHighPassTimeConstant, kFilterStep));
m_filter = std::make_unique<frc::LinearFilter<double>>(
frc::LinearFilter<double>::HighPass(kHighPassTimeConstant,
kFilterStep));
m_data = GetData;
m_expectedOutput = kHighPassExpectedOutput;
break;
}
case TEST_MOVAVG: {
m_filter = std::make_unique<frc::LinearFilter>(
frc::LinearFilter::MovingAverage(kMovAvgTaps));
m_filter = std::make_unique<frc::LinearFilter<double>>(
frc::LinearFilter<double>::MovingAverage(kMovAvgTaps));
m_data = GetData;
m_expectedOutput = kMovAvgExpectedOutput;
break;
}
case TEST_PULSE: {
m_filter = std::make_unique<frc::LinearFilter>(
frc::LinearFilter::MovingAverage(kMovAvgTaps));
m_filter = std::make_unique<frc::LinearFilter<double>>(
frc::LinearFilter<double>::MovingAverage(kMovAvgTaps));
m_data = GetPulseData;
m_expectedOutput = 0.0;
break;