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VelocitySmoothingTest - Update unit test to use the same parameters ordering (time, setpoint) as the VelocitySmoothing class

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This commit is contained in:
bresch
2019-09-02 11:08:13 +02:00
committed by Matthias Grob
parent c13499e64b
commit 052932fa95
1 changed files with 14 additions and 10 deletions
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24
src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp
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@@ -48,7 +48,7 @@ class VelocitySmoothingTest : public ::testing::Test
public: public:
void setConstraints(float j_max, float a_max, float v_max); void setConstraints(float j_max, float a_max, float v_max);
void setInitialConditions(Vector3f acc, Vector3f vel, Vector3f pos); void setInitialConditions(Vector3f acc, Vector3f vel, Vector3f pos);
void updateTrajectories(Vector3f velocity_setpoints, float t); void updateTrajectories(float t, Vector3f velocity_setpoints);
VelocitySmoothing _trajectories[3]; VelocitySmoothing _trajectories[3];
}; };
@@ -71,7 +71,7 @@ void VelocitySmoothingTest::setInitialConditions(Vector3f a0, Vector3f v0, Vecto
} }
} }
void VelocitySmoothingTest::updateTrajectories(Vector3f velocity_setpoints, float t) void VelocitySmoothingTest::updateTrajectories(float t, Vector3f velocity_setpoints)
{ {
float dummy; // We don't care about the immediate result float dummy; // We don't care about the immediate result
@@ -104,7 +104,7 @@ TEST_F(VelocitySmoothingTest, testTimeSynchronization)
// WHEN: We generate trajectories (time synchronized in XY) with constant setpoints and dt // WHEN: We generate trajectories (time synchronized in XY) with constant setpoints and dt
Vector3f velocity_setpoints(-3.f, 1.f, 0.f); Vector3f velocity_setpoints(-3.f, 1.f, 0.f);
updateTrajectories(velocity_setpoints, 0.f); updateTrajectories(0.f, velocity_setpoints);
// THEN: The X and Y trajectories should have the same total time (= time sunchronized) // THEN: The X and Y trajectories should have the same total time (= time sunchronized)
@@ -113,7 +113,14 @@ TEST_F(VelocitySmoothingTest, testTimeSynchronization)
TEST_F(VelocitySmoothingTest, testConstantSetpoint) TEST_F(VelocitySmoothingTest, testConstantSetpoint)
{ {
// GIVEN: A set of initial conditions (same constraints as before) // GIVEN: A set of 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);
// AND: A set of initial conditions
Vector3f a0(0.f, 0.f, 0.f); Vector3f a0(0.f, 0.f, 0.f);
Vector3f v0(0.f, 0.f, 0.f); Vector3f v0(0.f, 0.f, 0.f);
Vector3f x0(0.f, 0.f, 0.f); Vector3f x0(0.f, 0.f, 0.f);
@@ -124,19 +131,16 @@ TEST_F(VelocitySmoothingTest, testConstantSetpoint)
Vector3f velocity_setpoints(-3.f, 0.f, -1.f); Vector3f velocity_setpoints(-3.f, 0.f, -1.f);
// Compute the number of steps required to reach desired value // Compute the number of steps required to reach desired value
// because of known numerical issues, the actual trajectory takes a
// bit more time than the predicted one, this is why we have to add 14 steps
// to the theoretical value.
// The updateTrajectories is fist called once to compute the total time // The updateTrajectories is fist called once to compute the total time
float t = 0.f; float t = 0.f;
const float dt = 0.01; const float dt = 0.01;
updateTrajectories(velocity_setpoints, t); updateTrajectories(t, velocity_setpoints);
float t123 = _trajectories[0].getTotalTime(); float t123 = _trajectories[0].getTotalTime();
int nb_steps = ceil(t123 / dt); int nb_steps = ceil(t123 / dt);
for (int i = 0; i < nb_steps; i++) { for (int i = 0; i < nb_steps; i++) {
t += dt; t += dt;
updateTrajectories(velocity_setpoints, t); updateTrajectories(t, velocity_setpoints);
} }
// THEN: All the trajectories should have reach their // THEN: All the trajectories should have reach their
@@ -163,7 +167,7 @@ TEST_F(VelocitySmoothingTest, testZeroSetpoint)
// WHEN: We run a few times the algorithm // WHEN: We run a few times the algorithm
for (int i = 0; i < 60; i++) { for (int i = 0; i < 60; i++) {
updateTrajectories(velocity_setpoints, t); updateTrajectories(t, velocity_setpoints);
t += dt; t += dt;
} }