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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
44 lines
1.5 KiB
C++
44 lines
1.5 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 <gtest/gtest.h>
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#include "Eigen/Core"
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#include "frc/estimator/AngleStatistics.h"
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TEST(AngleStatisticsTest, TestMean) {
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Eigen::Matrix<double, 3, 3> sigmas;
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sigmas << 1, 1.2, 0, 359 * wpi::math::pi / 180, 3 * wpi::math::pi / 180, 0, 1,
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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, TestResidual) {
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Eigen::Vector3d a(1, 1 * wpi::math::pi / 180, 2);
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Eigen::Vector3d b(1, 359 * wpi::math::pi / 180, 1);
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EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
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Eigen::Vector3d(0, 2 * wpi::math::pi / 180, 1)));
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}
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TEST(AngleStatisticsTest, TestAdd) {
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Eigen::Vector3d a(1, 1 * wpi::math::pi / 180, 2);
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Eigen::Vector3d b(1, 359 * wpi::math::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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TEST(AngleStatisticsTest, TestNormalize) {
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EXPECT_NEAR(frc::NormalizeAngle(-2000 * wpi::math::pi / 180),
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160 * wpi::math::pi / 180, 1e-6);
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EXPECT_NEAR(frc::NormalizeAngle(358 * wpi::math::pi / 180),
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-2 * wpi::math::pi / 180, 1e-6);
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EXPECT_NEAR(frc::NormalizeAngle(360 * wpi::math::pi / 180), 0, 1e-6);
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}
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