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73 lines
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73 lines
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5 years ago
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/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <math.h>
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#include <memory>
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#include "EKF/ekf.h"
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#include "sensor_simulator/sensor_simulator.h"
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#include "sensor_simulator/ekf_wrapper.h"
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#include "sensor_simulator/ekf_logger.h"
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class EkfReplayTest : public ::testing::Test {
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public:
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EkfReplayTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_sensor_simulator(_ekf),
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_ekf_wrapper(_ekf),
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_ekf_logger(_ekf) {};
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std::shared_ptr<Ekf> _ekf;
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SensorSimulator _sensor_simulator;
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EkfWrapper _ekf_wrapper;
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EkfLogger _ekf_logger;
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};
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TEST_F(EkfReplayTest, replaySensorData)
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{
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_sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/iris_gps.csv");
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_ekf_logger.setFilePath("../../../test/change_indication/iris_gps.csv");
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// Start simulation and enable fusion of additional sensor types here
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// By default the IMU, Baro and Mag sensor simulators are already running
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_sensor_simulator.startGps();
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_ekf_wrapper.enableGpsFusion();
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uint8_t logging_rate_hz = 10;
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for(int i = 0; i < 35 * logging_rate_hz; ++i)
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{
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_sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz);
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_ekf_logger.writeStateToFile();
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}
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}
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