00001 // Copyright (C) 2007 Wim Meeussen <wim DOT meeussen AT mech DOT kuleuven DOT be> 00002 // Copyright (C) 2008 Tinne De Laet <tinne DOT delaet AT mech DOT kuleuven DOT be> 00003 // 00004 // This program is free software; you can redistribute it and/or modify 00005 // it under the terms of the GNU General Public License as published by 00006 // the Free Software Foundation; either version 2 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // This program is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU General Public License 00015 // along with this program; if not, write to the Free Software 00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00017 // 00018 00019 #ifndef COMPLETE_FILTER_TEST_HPP 00020 #define COMPLETE_FILTER_TEST_HPP 00021 00022 #include <cppunit/extensions/HelperMacros.h> 00023 #include <wrappers/matrix/matrix_wrapper.h> 00024 #include <wrappers/matrix/vector_wrapper.h> 00025 00026 #include <filter/bootstrapfilter.h> 00027 #include <filter/extendedkalmanfilter.h> 00028 #include <filter/iteratedextendedkalmanfilter.h> 00029 #include <filter/asirfilter.h> 00030 #include <filter/EKparticlefilter.h> 00031 #include <filter/histogramfilter.h> 00032 #include <filter/mixtureBootstrapFilter.h> 00033 00034 #include <model/analyticsystemmodel_gaussianuncertainty.h> 00035 #include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h> 00036 #include <pdf/analyticconditionalgaussian.h> 00037 #include <pdf/discreteconditionalpdf.h> 00038 #include <pdf/discretepdf.h> 00039 #include <pdf/gaussian.h> 00040 00041 #include "../examples/mobile_robot_wall_cts.h" 00042 #include "../examples/compare_filters/nonlinearanalyticconditionalgaussianmobile.h" 00043 #include "../examples/mobile_robot.h" 00044 #include "../examples/discrete_filter/conditionalUniformMeasPdf1d.h" 00045 00046 #include <iostream> 00047 #include <fstream> 00048 #include <string> 00049 00050 00051 using namespace std; 00052 using namespace BFL; 00053 using namespace MatrixWrapper; 00054 00055 class Complete_FilterTest : public CppUnit::TestFixture 00056 { 00057 CPPUNIT_TEST_SUITE( Complete_FilterTest ); 00058 CPPUNIT_TEST( testComplete_FilterValue_Cont ); 00059 CPPUNIT_TEST( testComplete_FilterValue_Discr ); 00060 CPPUNIT_TEST_SUITE_END(); 00061 00062 public: 00063 void setUp(); 00064 void tearDown(); 00065 00066 void testComplete_FilterValue_Cont(); 00067 void testComplete_FilterValue_Discr(); 00068 00069 }; 00070 00071 #endif // COMPLETE_FILTER_TEST_HPP