00001 // Copyright (C) 2008 Willow Garage inc. 00002 // 00003 // This program is free software; you can redistribute it and/or modify 00004 // it under the terms of the GNU General Public License as published by 00005 // the Free Software Foundation; either version 2 of the License, or 00006 // (at your option) any later version. 00007 // 00008 // This program is distributed in the hope that it will be useful, 00009 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00010 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00011 // GNU General Public License for more details. 00012 // 00013 // You should have received a copy of the GNU General Public License 00014 // along with this program; if not, write to the Free Software 00015 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00016 // 00017 00018 #ifndef EKF_TEST_HPP 00019 #define EKF_TEST_HPP 00020 00021 #include <cppunit/extensions/HelperMacros.h> 00022 #include <filter/extendedkalmanfilter.h> 00023 #include <model/linearanalyticsystemmodel_gaussianuncertainty.h> 00024 #include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h> 00025 #include <pdf/linearanalyticconditionalgaussian.h> 00026 00027 00028 namespace BFL 00029 { 00030 00031 class EKFTest : public CppUnit::TestFixture 00032 { 00033 CPPUNIT_TEST_SUITE( EKFTest ); 00034 CPPUNIT_TEST( testMeasUpdate ); 00035 CPPUNIT_TEST_SUITE_END(); 00036 00037 public: 00038 void setUp(); 00039 void tearDown(); 00040 00041 void testMeasUpdate(); 00042 00043 private: 00044 double epsilon_; 00045 LinearAnalyticMeasurementModelGaussianUncertainty* meas_model_; 00046 LinearAnalyticConditionalGaussian* meas_pdf_; 00047 Gaussian* prior_; 00048 ExtendedKalmanFilter* filter_; 00049 00050 }; 00051 } 00052 00053 #endif // EKF_TEST_HPP