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87 lines
3.1 KiB
87 lines
3.1 KiB
5 years ago
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/****************************************************************************
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*
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* Copyright (c) 2020 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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/**
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* Helper class to check the state_reset_status member of the ekf object.
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* Used for checking if state resets are logged correctly.
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include <memory>
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#include "EKF/ekf.h"
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class ResetLoggingChecker {
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public:
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ResetLoggingChecker(std::shared_ptr<Ekf> ekf) : _ekf(ekf) {}
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// call immediately before state reset
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void capturePreResetState();
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// call immediately after state reset
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void capturePostResetState();
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bool isVelocityDeltaLoggedCorrectly(float accuracy);
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bool isHorizontalVelocityResetCounterIncreasedBy(int offset);
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bool isVerticalVelocityResetCounterIncreasedBy(int offset);
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bool isPositionDeltaLoggedCorrectly(float accuracy);
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bool isHorizontalPositionResetCounterIncreasedBy(int offset);
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bool isVerticalPositionResetCounterIncreasedBy(int offset);
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private:
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std::shared_ptr<Ekf> _ekf;
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Vector3f velocity_before_reset;
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Vector3f position_before_reset;
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int horz_vel_reset_counter_before_reset;
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int vert_vel_reset_counter_before_reset;
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int horz_pos_reset_counter_before_reset;
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int vert_pos_reset_counter_before_reset;
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Vector3f velocity_after_reset;
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Vector3f position_after_reset;
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int horz_vel_reset_counter_after_reset;
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int vert_vel_reset_counter_after_reset;
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int horz_pos_reset_counter_after_reset;
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int vert_pos_reset_counter_after_reset;
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Vector3f logged_delta_velocity;
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Vector3f logged_delta_position;
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};
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