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[wpimath] Clean up C++ StateSpaceUtil tests (#3692)

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This commit is contained in:
Tyler Veness
2021-10-29 00:02:03 -07:00
committed by GitHub
parent b20903960b
commit d5270d113b
1 changed files with 8 additions and 15 deletions
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23
wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
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@@ -114,30 +114,23 @@ TEST(StateSpaceUtilTest, WhiteNoiseVectorArray) {
TEST(StateSpaceUtilTest, IsStabilizable) {
Eigen::Matrix<double, 2, 1> B{0, 1};
// We separate the result of IsStabilizable from the assertion because
// templates break gtest.
// First eigenvalue is uncontrollable and unstable.
// Second eigenvalue is controllable and stable.
Eigen::Matrix<double, 2, 2> A1{{1.2, 0}, {0, 0.5}};
bool ret = frc::IsStabilizable<2, 1>(A1, B);
EXPECT_FALSE(ret);
EXPECT_FALSE((frc::IsStabilizable<2, 1>(
Eigen::Matrix<double, 2, 2>{{1.2, 0}, {0, 0.5}}, B)));
// First eigenvalue is uncontrollable and marginally stable.
// Second eigenvalue is controllable and stable.
Eigen::Matrix<double, 2, 2> A2{{1, 0}, {0, 0.5}};
ret = frc::IsStabilizable<2, 1>(A2, B);
EXPECT_FALSE(ret);
EXPECT_FALSE((frc::IsStabilizable<2, 1>(
Eigen::Matrix<double, 2, 2>{{1, 0}, {0, 0.5}}, B)));
// First eigenvalue is uncontrollable and stable.
// Second eigenvalue is controllable and stable.
Eigen::Matrix<double, 2, 2> A3{{0.2, 0}, {0, 0.5}};
ret = frc::IsStabilizable<2, 1>(A3, B);
EXPECT_TRUE(ret);
EXPECT_TRUE((frc::IsStabilizable<2, 1>(
Eigen::Matrix<double, 2, 2>{{0.2, 0}, {0, 0.5}}, B)));
// First eigenvalue is uncontrollable and stable.
// Second eigenvalue is controllable and unstable.
Eigen::Matrix<double, 2, 2> A4{{0.2, 0}, {0, 1.2}};
ret = frc::IsStabilizable<2, 1>(A4, B);
EXPECT_TRUE(ret);
EXPECT_TRUE((frc::IsStabilizable<2, 1>(
Eigen::Matrix<double, 2, 2>{{0.2, 0}, {0, 1.2}}, B)));
}