madgwick_test.cpp File Reference

#include <imu_filter_madgwick/imu_filter.h>
#include <cmath>
#include "test_helpers.h"

Include dependency graph for madgwick_test.cpp:

Go to the source code of this file.

Macros
#define	FILTER_ITERATIONS   10000
#define	TEST_STATIONARY_ENU(in_am, exp_result)
#define	TEST_STATIONARY_NED(in_am, exp_result)
#define	TEST_STATIONARY_NWU(in_am, exp_result)

Functions
template<WorldFrame::WorldFrame FRAME>
void	filterStationary (float Ax, float Ay, float Az, float Mx, float My, float Mz, double &q0, double &q1, double &q2, double &q3)
template<WorldFrame::WorldFrame FRAME>
void	filterStationary (float Ax, float Ay, float Az, double &q0, double &q1, double &q2, double &q3)
int	main (int argc, char **argv)
	TEST (MadgwickTest, TestQuatEqNoZ)

Macro Definition Documentation

#define FILTER_ITERATIONS   10000

Definition at line 5 of file madgwick_test.cpp.

#define TEST_STATIONARY_ENU	(		in_am,
			exp_result
	)

Value:

TEST(MadgwickTest, Stationary_ENU_ ## in_am){      \
  double q0 = .5, q1 = .5, q2 = .5, q3 = .5;         \
  filterStationary<WorldFrame::ENU>(in_am, q0, q1, q2, q3);  \
  ASSERT_IS_NORMALIZED(q0, q1, q2, q3);              \
  ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); }   \
  TEST(MadgwickTest, Stationary_ENU_NM_ ## in_am){   \
  double q0 = .5, q1 = .5, q2 = .5, q3 = .5;         \
  filterStationary<WorldFrame::ENU>(ACCEL_ONLY(in_am), q0, q1, q2, q3);  \
  ASSERT_IS_NORMALIZED(q0, q1, q2, q3);              \
  ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); }

Definition at line 55 of file madgwick_test.cpp.

#define TEST_STATIONARY_NED	(		in_am,
			exp_result
	)

Value:

TEST(MadgwickTest, Stationary_NED_ ## in_am){      \
  double q0 = .5, q1 = .5, q2 = .5, q3 = .5;         \
  filterStationary<WorldFrame::NED>(in_am, q0, q1, q2, q3);  \
  ASSERT_IS_NORMALIZED(q0, q1, q2, q3);              \
  ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); }   \
  TEST(MadgwickTest, Stationary_NED_NM_ ## in_am){   \
  double q0 = .5, q1 = .5, q2 = .5, q3 = .5;         \
  filterStationary<WorldFrame::NED>(ACCEL_ONLY(in_am), q0, q1, q2, q3);  \
  ASSERT_IS_NORMALIZED(q0, q1, q2, q3);              \
  ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); }

Definition at line 67 of file madgwick_test.cpp.

#define TEST_STATIONARY_NWU	(		in_am,
			exp_result
	)

Value:

TEST(MadgwickTest, Stationary_NWU_ ## in_am){      \
  double q0 = .5, q1 = .5, q2 = .5, q3 = .5;         \
  filterStationary<WorldFrame::NWU>(in_am, q0, q1, q2, q3);  \
  ASSERT_IS_NORMALIZED(q0, q1, q2, q3);              \
  ASSERT_QUAT_EQUAL(q0, q1, q2, q3, exp_result); }   \
  TEST(MadgwickTest, Stationary_NWU_NM_ ## in_am){   \
  double q0 = .5, q1 = .5, q2 = .5, q3 = .5;         \
  filterStationary<WorldFrame::NWU>(ACCEL_ONLY(in_am), q0, q1, q2, q3);  \
  ASSERT_IS_NORMALIZED(q0, q1, q2, q3);              \
  ASSERT_QUAT_EQUAL_EX_Z(q0, q1, q2, q3, exp_result); }

Definition at line 79 of file madgwick_test.cpp.

Function Documentation

template<WorldFrame::WorldFrame FRAME>

void filterStationary	(	float	Ax,
		float	Ay,
		float	Az,
		float	Mx,
		float	My,
		float	Mz,
		double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)

Definition at line 9 of file madgwick_test.cpp.

template<WorldFrame::WorldFrame FRAME>

void filterStationary	(	float	Ax,
		float	Ay,
		float	Az,
		double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)

Definition at line 33 of file madgwick_test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 118 of file madgwick_test.cpp.

TEST	(	MadgwickTest	,
		TestQuatEqNoZ
	)

Definition at line 109 of file madgwick_test.cpp.