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39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <numbers>
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#include <gtest/gtest.h>
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#include "frc/EigenCore.h"
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#include "frc/estimator/AngleStatistics.h"
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TEST(AngleStatisticsTest, Mean) {
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frc::Matrixd<3, 3> sigmas{
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{1, 1.2, 0},
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{359 * std::numbers::pi / 180, 3 * std::numbers::pi / 180, 0},
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{1, 2, 0}};
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// Weights need to produce the mean of the sigmas
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Eigen::Vector3d weights;
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weights.fill(1.0 / sigmas.cols());
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EXPECT_TRUE(Eigen::Vector3d(0.7333333, 0.01163323, 1)
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.isApprox(frc::AngleMean<3, 1>(sigmas, weights, 1), 1e-3));
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}
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TEST(AngleStatisticsTest, Residual) {
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Eigen::Vector3d a{1, 1 * std::numbers::pi / 180, 2};
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Eigen::Vector3d b{1, 359 * std::numbers::pi / 180, 1};
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EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
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Eigen::Vector3d{0, 2 * std::numbers::pi / 180, 1}));
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}
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TEST(AngleStatisticsTest, Add) {
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Eigen::Vector3d a{1, 1 * std::numbers::pi / 180, 2};
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Eigen::Vector3d b{1, 359 * std::numbers::pi / 180, 1};
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EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d{2, 0, 3}));
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}
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