px4_autopilot/test/integration.cpp

#include "test_macros.hpp"
#include <matrix/integration.hpp>

using matrix::Matrix;
using matrix::ones;
using matrix::Vector;

Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/);

Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/) {
    float v = -sinf(t);
    return v*ones<float, 6, 1>();
}

int main()
{
    Vector<float, 6> y = ones<float, 6, 1>();
    Vector<float, 3> u = ones<float, 3, 1>();
    float t0 = 0;
    float tf = 2;
    float h = 0.001f;
    integrate_rk4(f, y, u, t0, tf, h, y);
    float v = 1 + cosf(tf) - cosf(t0);
    TEST(isEqual(y, (ones<float, 6, 1>()*v)));
    return 0;
}

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