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VelocitySmothing - Add gtest script

sbg
bresch 6 years ago committed by Mathieu Bresciani
parent
commit
c59bcc686c
  1. 2
      src/lib/FlightTasks/tasks/Utility/CMakeLists.txt
  2. 122
      src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp

2
src/lib/FlightTasks/tasks/Utility/CMakeLists.txt

@ -41,3 +41,5 @@ px4_add_library(FlightTaskUtility @@ -41,3 +41,5 @@ px4_add_library(FlightTaskUtility
target_link_libraries(FlightTaskUtility PUBLIC FlightTask)
target_include_directories(FlightTaskUtility PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
px4_add_unit_gtest(SRC VelocitySmoothingTest.cpp LINKLIBS FlightTaskUtility)

122
src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp

@ -0,0 +1,122 @@ @@ -0,0 +1,122 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Test code for the Velocity Smoothing library
* Run this test only using make tests TESTFILTER=VelocitySmoothing
*/
#include <gtest/gtest.h>
#include <matrix/matrix/math.hpp>
#include "VelocitySmoothing.hpp"
using namespace matrix;
class VelocitySmoothingTest : public ::testing::Test
{
public:
void SetUp() override
{
return;
}
void setConstraints(float j_max, float a_max, float v_max);
void setInitialConditions(Vector3f acc, Vector3f vel, Vector3f pos);
void updateTrajectories(Vector3f velocity_setpoints, float dt);
VelocitySmoothing _trajectories[3];
};
void VelocitySmoothingTest::setConstraints(float j_max, float a_max, float v_max)
{
for (int i = 0; i < 3; i++) {
_trajectories[i].setMaxJerk(j_max);
_trajectories[i].setMaxAccel(a_max);
_trajectories[i].setMaxVel(v_max);
}
}
void VelocitySmoothingTest::setInitialConditions(Vector3f a0, Vector3f v0, Vector3f x0)
{
for (int i = 0; i < 3; i++) {
_trajectories[i].setCurrentAcceleration(a0(i));
_trajectories[i].setCurrentVelocity(v0(i));
_trajectories[i].setCurrentPosition(x0(i));
}
}
void VelocitySmoothingTest::updateTrajectories(Vector3f velocity_setpoints, float dt)
{
for (int i = 0; i < 3; i++) {
_trajectories[i].updateDurations(dt, velocity_setpoints(i));
}
VelocitySmoothing::timeSynchronization(_trajectories, 2);
float dummy; // We don't care about the immediate result
for (int i = 0; i < 3; i++) {
_trajectories[i].integrate(dummy, dummy, dummy);
}
}
TEST_F(VelocitySmoothingTest, testConstantSetpoint)
{
// Set the constraints
const float j_max = 55.2f;
const float a_max = 6.f;
const float v_max = 6.f;
setConstraints(j_max, a_max, v_max);
// Set the initial conditions
Vector3f a0(0.22f, 0.f, 0.22f);
Vector3f v0(2.47f, -5.59e-6f, 2.47f);
Vector3f x0(0.f, 0.f, 0.f);
setInitialConditions(a0, v0, x0);
// Generate the trajectories with constant setpoints and dt
Vector3f velocity_setpoints(0.f, 1.f, 0.f);
float dt = 0.01f;
for (int i = 0; i < 60; i++) {
updateTrajectories(velocity_setpoints, dt);
}
// Check that all the trajectories reached their desired value
EXPECT_LE(fabsf(_trajectories[0].getCurrentVelocity() - velocity_setpoints(0)), 0.01f);
EXPECT_LE(fabsf(_trajectories[1].getCurrentVelocity() - velocity_setpoints(1)), 0.01f);
EXPECT_LE(fabsf(_trajectories[2].getCurrentVelocity() - velocity_setpoints(2)), 0.01f);
}
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