00001 /* 00002 * Copyright (c) 2019, the mcl_3dl authors 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the copyright holder nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <gtest/gtest.h> 00031 00032 #include <mcl_3dl/imu_measurement_models/imu_measurement_model_gravity.h> 00033 00034 TEST(ImuMeasurementModelGravity, measure) 00035 { 00036 mcl_3dl::ImuMeasurementModelGravity measurement(M_PI / 4.0); 00037 measurement.setAccMeasure(mcl_3dl::Vec3(0.1, 0.2, 0.3)); 00038 mcl_3dl::State6DOF s1(mcl_3dl::Vec3(0.0, 0.0, 0.0), 00039 mcl_3dl::Quat(mcl_3dl::Vec3(M_PI / 18.0, M_PI / 6.0, M_PI / -2.0))); 00040 EXPECT_NEAR(measurement.measure(s1), 0.2678633, 1.0e-6); 00041 00042 measurement.setAccMeasure(mcl_3dl::Vec3(-0.3, -0.2, -0.1)); 00043 mcl_3dl::State6DOF s2(mcl_3dl::Vec3(0.0, 0.0, 0.0), 00044 mcl_3dl::Quat(mcl_3dl::Vec3(-M_PI / 12.0, M_PI / 36.0, M_PI * 1.5))); 00045 EXPECT_NEAR(measurement.measure(s2), 0.0604828, 1.0e-6); 00046 } 00047 00048 int main(int argc, char** argv) 00049 { 00050 testing::InitGoogleTest(&argc, argv); 00051 00052 return RUN_ALL_TESTS(); 00053 }