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[sysid] Add SysId (#5672)

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625ff04784.
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Tyler Veness
2023-10-01 15:09:09 -07:00
committed by GitHub
parent 8d2cbfce16
commit a331ed2374
67 changed files with 7568 additions and 0 deletions
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42
sysid/src/test/native/cpp/analysis/OLSTest.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
#include "sysid/analysis/OLS.h"
TEST(OLSTest, TwoVariablesTwoPoints) {
// (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 [coefficients, cod, rmse] = sysid::OLS(X, y);
EXPECT_EQ(coefficients.size(), 2u);
EXPECT_NEAR(coefficients[0], 1.0, 0.05);
EXPECT_NEAR(coefficients[1], 2.0, 0.05);
EXPECT_NEAR(cod, 1.0, 1E-4);
}
TEST(OLSTest, TwoVariablesFivePoints) {
// (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 [coefficients, cod, rmse] = sysid::OLS(X, y);
EXPECT_EQ(coefficients.size(), 2u);
EXPECT_NEAR(coefficients[0], 0.305, 0.05);
EXPECT_NEAR(coefficients[1], 1.518, 0.05);
EXPECT_NEAR(cod, 0.985, 0.05);
}
#ifndef NDEBUG
TEST(OLSTest, MalformedData) {
Eigen::MatrixXd X{{1, 2}, {1, 3}, {1, 4}};
Eigen::VectorXd y{{4}, {5}};
EXPECT_DEATH(sysid::OLS(X, y), "");
}
#endif