test_mean.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <gtest/gtest.h>
#include <sys/time.h>
#include "filters/mean.hpp"
 
using namespace filters ;
 
TEST(MultiChannelMeanFilterDouble, ConfirmIdentityNRows)
{
  double epsilon = 1e-6;
  int length = 5;
  int rows = 5;
  
  MultiChannelFilterBase<double > * filter = new MultiChannelMeanFilter<double>  ();
  EXPECT_TRUE(filter->configure(rows, "MultiChannelMeanFilterDouble5"));
 
  double input1[] = {1,2,3,4,5};
  double input1a[] = {1,2,3,4,5};
  std::vector<double> v1 (input1, input1 + sizeof(input1) / sizeof(double));
  std::vector<double> v1a (input1a, input1a + sizeof(input1a) / sizeof(double));
 
 
  for (int32_t i =0; i < rows*10; i++)
  {
    EXPECT_TRUE(filter->update(v1, v1a));
 
    for (int i = 1; i < length; i++)
    {
      EXPECT_NEAR(v1[i], v1a[i], epsilon);
    }
  }
}
 
TEST(MultiChannelMeanFilterDouble, ThreeRows)
{
  double epsilon = 1e-6;
  int length = 5;
  int rows = 5;
  
  MultiChannelFilterBase<double > * filter = new MultiChannelMeanFilter<double> ();
  EXPECT_TRUE(filter->configure(rows, "MultiChannelMeanFilterDouble5"));
 
  double input1[] = {0,1,2,3,4};
  std::vector<double> v1 (input1, input1 + sizeof(input1) / sizeof(double));
  double input2[] = {1,2,3,4,5};
  std::vector<double> v2 (input2, input2 + sizeof(input2) / sizeof(double));
  double input3[] = {2,3,4,5,6};
  std::vector<double> v3 (input3, input3 + sizeof(input3) / sizeof(double));
  double input1a[] = {1,2,3,4,5};
  std::vector<double> v1a (input1a, input1a + sizeof(input1a) / sizeof(double));
 
 
  EXPECT_TRUE(filter->update(v1, v1a));
  EXPECT_TRUE(filter->update(v2, v1a));
  EXPECT_TRUE(filter->update(v3, v1a));
 
  for (int i = 1; i < length; i++)
  {
    EXPECT_NEAR(v2[i], v1a[i], epsilon);
  }
 
}
 
TEST(MeanFilterDouble, ConfirmIdentityNRows)
{
  double epsilon = 1e-6;
  int length = 5;
  int rows = 5;
  
  FilterBase<double > * filter = new MeanFilter<double>  ();
  EXPECT_TRUE(filter->configure("MeanFilterDouble5"));
 
  double input = 1;
  double output = 0;
 
 
  for (int32_t i =0; i < rows*10; i++)
  {
    EXPECT_TRUE(filter->update(input, output));
    
    for (int i = 1; i < length; i++)
    {
      EXPECT_NEAR(input, output, epsilon);
    }
  }
}
 
TEST(MeanFilterDouble, ThreeRows)
{
  double epsilon = 1e-6;
  
  FilterBase<double > * filter = new MeanFilter<double> ();
  EXPECT_TRUE(filter->configure("MeanFilterDouble5"));
 
  double input1 = 0;
  double input2 =1;
  double input3 = 2;
  double output = 3;
 
 
  EXPECT_TRUE(filter->update(input1, output));
  EXPECT_NEAR(input1, output, epsilon);
  EXPECT_TRUE(filter->update(input2, output));
  EXPECT_NEAR((input1+ input2)/2.0, output, epsilon);
  EXPECT_TRUE(filter->update(input3, output));
  EXPECT_NEAR((input1 + input2 + input3)/3, output, epsilon);
 
 
}
 
 
int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_mean");
  return RUN_ALL_TESTS();
}