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https://github.com/PX4/PX4-Autopilot.git
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math: add unit tests for everything in Functions.hpp
This commit is contained in:
Matthias Grob
@@ -39,3 +39,4 @@ px4_add_library(mathlib
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)
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px4_add_unit_gtest(SRC math/filter/NotchFilterTest.cpp)
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px4_add_unit_gtest(SRC math/FunctionsTest.cpp)
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@@ -0,0 +1,185 @@
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/****************************************************************************
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*
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* Copyright (C) 2020 PX4 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 "Functions.hpp"
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using namespace math;
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TEST(FunctionsTest, signNoZero)
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{
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EXPECT_FLOAT_EQ(signNoZero(-123.456f), -1.f);
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EXPECT_FLOAT_EQ(signNoZero(-1.f), -1.f);
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EXPECT_FLOAT_EQ(signNoZero(-.0001f), -1.f);
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EXPECT_FLOAT_EQ(signNoZero(0.f), 1.f);
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EXPECT_FLOAT_EQ(signNoZero(.0001f), 1.f);
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EXPECT_FLOAT_EQ(signNoZero(1.f), 1.f);
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EXPECT_FLOAT_EQ(signNoZero(123.456f), 1.f);
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}
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TEST(FunctionsTest, expo)
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{
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// input value limits
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EXPECT_FLOAT_EQ(expo(-12.f, .5f), -1.f);
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EXPECT_FLOAT_EQ(expo(-1.f, .5f), -1.f);
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EXPECT_FLOAT_EQ(expo(0.f, .5f), 0.f);
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EXPECT_FLOAT_EQ(expo(1.f, .5f), 1.f);
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EXPECT_FLOAT_EQ(expo(45.f, .5f), 1.f);
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// expo parameter limits
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EXPECT_FLOAT_EQ(expo(.1f, 0.f), .1f);
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EXPECT_FLOAT_EQ(expo(.1f, -12.f), .1f);
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EXPECT_FLOAT_EQ(expo(.1f, 1.f), .001f);
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EXPECT_FLOAT_EQ(expo(.1f, 12.f), .001f);
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// different in range values
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EXPECT_FLOAT_EQ(expo(.1f, .5f), .0505f);
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EXPECT_FLOAT_EQ(expo(-.2f, .5f), -.104f);
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EXPECT_FLOAT_EQ(expo(.3f, .7f), .1089f);
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EXPECT_FLOAT_EQ(expo(-.4f, .9f), -.0976f);
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}
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TEST(FunctionsTest, superexpo)
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{
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// input value limits
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EXPECT_FLOAT_EQ(superexpo(-12.f, .5f, .5f), -1.f);
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EXPECT_FLOAT_EQ(superexpo(-1.f, .5f, .5f), -1.f);
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EXPECT_FLOAT_EQ(superexpo(0.f, .5f, .5f), 0.f);
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EXPECT_FLOAT_EQ(superexpo(1.f, .5f, .5f), 1.f);
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EXPECT_FLOAT_EQ(superexpo(45.f, .5f, .5f), 1.f);
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// superexpo parameter limits
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EXPECT_FLOAT_EQ(superexpo(.1f, 0.f, 0.f), .1f);
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EXPECT_FLOAT_EQ(superexpo(.1f, 0.f, -12.f), .1f);
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EXPECT_NEAR(superexpo(.1f, 0.f, 0.99f), .0011098779134295227f, 1e-8f);
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EXPECT_NEAR(superexpo(.1f, 0.f, 12.f), .0011098779134295227f, 1e-8f);
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// different in range values
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EXPECT_FLOAT_EQ(superexpo(.5f, 0.f, .5f), .33333333333f);
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EXPECT_FLOAT_EQ(superexpo(-.2f, .5f, .5f), -.057777781f);
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EXPECT_FLOAT_EQ(superexpo(.3f, .7f, .5f), .064058825f);
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EXPECT_FLOAT_EQ(superexpo(-.4f, .9f, .5f), -.061000008f);
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}
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TEST(FunctionsTest, deadzone)
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{
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// input value limits
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EXPECT_FLOAT_EQ(deadzone(-12.f, .5f), -1.f);
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EXPECT_FLOAT_EQ(deadzone(-1.f, .5f), -1.f);
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EXPECT_FLOAT_EQ(deadzone(0.f, .5f), 0.f);
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EXPECT_FLOAT_EQ(deadzone(1.f, .5f), 1.f);
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EXPECT_FLOAT_EQ(deadzone(45.f, .5f), 1.f);
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// deadzone parameter limits
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EXPECT_FLOAT_EQ(deadzone(.1f, 0.f), .1f);
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EXPECT_FLOAT_EQ(deadzone(.1f, -12.f), .1f);
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EXPECT_FLOAT_EQ(deadzone(.1f, 1.f), 0.f);
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EXPECT_FLOAT_EQ(deadzone(.1f, 12.f), 0.f);
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// different in range values
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EXPECT_FLOAT_EQ(deadzone(.1f, 0.f), .1f);
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EXPECT_FLOAT_EQ(deadzone(.1f, .1f), 0.f);
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EXPECT_FLOAT_EQ(deadzone(.2f, .1f), 0.1111111111f);
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EXPECT_FLOAT_EQ(deadzone(-.2f, .5f), 0.f);
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EXPECT_FLOAT_EQ(deadzone(.7f, .3f), .57142854f);
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EXPECT_FLOAT_EQ(deadzone(-.9f, .4f), -.83333325f);
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}
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TEST(FunctionsTest, expo_deadzone)
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{
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// input value limits
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EXPECT_FLOAT_EQ(expo_deadzone(-12.f, .5f, .5f), -1.f);
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EXPECT_FLOAT_EQ(expo_deadzone(-1.f, .5f, .5f), -1.f);
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EXPECT_FLOAT_EQ(expo_deadzone(0.f, .5f, .5f), 0.f);
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EXPECT_FLOAT_EQ(expo_deadzone(1.f, .5f, .5f), 1.f);
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EXPECT_FLOAT_EQ(expo_deadzone(45.f, .5f, .5f), 1.f);
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// different in range values
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EXPECT_FLOAT_EQ(expo_deadzone(.5f, 0.f, .5f), 0.f);
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EXPECT_FLOAT_EQ(expo_deadzone(-.5f, .5f, .2f), -.21386719f);
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EXPECT_FLOAT_EQ(expo_deadzone(.5f, .7f, .3f), .10204081f);
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EXPECT_FLOAT_EQ(expo_deadzone(-.5f, .9f, .4f), -.020833336f);
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}
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TEST(FunctionsTest, gradual)
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{
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// factor of *2, offset +1
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EXPECT_FLOAT_EQ(gradual(-12.f, 0.f, 1.f, 1.f, 3.f), 1.f);
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EXPECT_FLOAT_EQ(gradual(0.f, 0.f, 1.f, 1.f, 3.f), 1.f);
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EXPECT_FLOAT_EQ(gradual(.25f, 0.f, 1.f, 1.f, 3.f), 1.5f);
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EXPECT_FLOAT_EQ(gradual(.5f, 0.f, 1.f, 1.f, 3.f), 2.f);
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EXPECT_FLOAT_EQ(gradual(.75f, 0.f, 1.f, 1.f, 3.f), 2.5f);
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EXPECT_FLOAT_EQ(gradual(1.f, 0.f, 1.f, 1.f, 3.f), 3.f);
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EXPECT_FLOAT_EQ(gradual(12.f, 0.f, 1.f, 1.f, 3.f), 3.f);
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// factor of *2, offset +3
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EXPECT_FLOAT_EQ(gradual(-12.f, 1.f, 2.f, 4.f, 6.f), 4.f);
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EXPECT_FLOAT_EQ(gradual(1.f, 1.f, 2.f, 4.f, 6.f), 4.f);
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EXPECT_FLOAT_EQ(gradual(1.25f, 1.f, 2.f, 4.f, 6.f), 4.5f);
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EXPECT_FLOAT_EQ(gradual(1.5f, 1.f, 2.f, 4.f, 6.f), 5.f);
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EXPECT_FLOAT_EQ(gradual(1.75f, 1.f, 2.f, 4.f, 6.f), 5.5f);
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EXPECT_FLOAT_EQ(gradual(2.f, 1.f, 2.f, 4.f, 6.f), 6.f);
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EXPECT_FLOAT_EQ(gradual(12.f, 1.f, 2.f, 4.f, 6.f), 6.f);
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}
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TEST(FunctionsTest, gradual3)
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{
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// factor of *2, offset +1
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EXPECT_FLOAT_EQ(gradual3(-12.f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 1.f);
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EXPECT_FLOAT_EQ(gradual3(0.f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 1.f);
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EXPECT_FLOAT_EQ(gradual3(.25f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 1.5f);
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EXPECT_FLOAT_EQ(gradual3(.5f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 2.f);
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EXPECT_FLOAT_EQ(gradual3(.75f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 2.25f);
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EXPECT_FLOAT_EQ(gradual3(1.f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 2.5f);
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EXPECT_FLOAT_EQ(gradual3(1.25f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 2.75f);
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EXPECT_FLOAT_EQ(gradual3(1.5f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 3.f);
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EXPECT_FLOAT_EQ(gradual3(12.f,
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0.f, .5f, 1.5f,
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1.f, 2.f, 3.f), 3.f);
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}
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