#include <gtest/gtest.h>#include <iostream>#include <Eigen/Geometry>#include <random>#include <geographiclib_conversions/geodetic_conv.hpp>#include "vtolDynamicsSim.hpp"#include "common_math.hpp"
Go to the source code of this file.
Functions | |
| void | calculateNewState (double dt, std::vector< double > actuators, Eigen::Vector3d Maero, Eigen::Vector3d Faero, Eigen::Vector3d initialLinearVelocity, Eigen::Vector3d initialAngularVelocity, Eigen::Vector3d initialPosition, Eigen::Quaterniond initialAttitude, Eigen::Vector3d &expectedAngAccel, Eigen::Vector3d &expectedLinAccel, Eigen::Vector3d &angularAcceleration, Eigen::Vector3d &linearAcceleration) |
| int | main (int argc, char *argv[]) |
| TEST (InnoVtolDynamicsSim, calculateWind) | |
| TEST (InnoVtolDynamicsSim, calculateAnglesOfAtack) | |
| TEST (InnoVtolDynamicsSim, calculateAnglesOfSideslip) | |
| TEST (CommonMath, findPrevRowIdxInIncreasingSequence) | |
| TEST (CommonMath, findPrevRowIdxInMonotonicSequenceIncreasing) | |
| TEST (CommonMath, findPrevRowIdxInMonotonicSequenceDecreasing) | |
| TEST (calculateCLPolynomial, test_normal_scalar) | |
| TEST (calculateCLPolynomial, test_normal_vector) | |
| TEST (calculateCLPolynomial, test_wrong_input_size) | |
| TEST (calculateCLPolynomial, test_wrong_table) | |
| TEST (InnoVtolDynamicsSim, calculateCLPolynomial) | |
| TEST (InnoVtolDynamicsSim, calculateCSPolynomial) | |
| TEST (InnoVtolDynamicsSim, calculateCDPolynomial) | |
| TEST (CommonMath, polyval) | |
| TEST (InnoVtolDynamicsSim, griddata) | |
| TEST (InnoVtolDynamicsSim, calculateCSRudder) | |
| TEST (InnoVtolDynamicsSim, calculateCSBeta) | |
| TEST (InnoVtolDynamicsSim, DISABLED_calculateCmxAileron) | |
| TEST (InnoVtolDynamicsSim, calculateAerodynamics) | |
| TEST (InnoVtolDynamicsSim, calculateAerodynamicsCaseAileron) | |
| TEST (InnoVtolDynamicsSim, calculateAerodynamicsCaseElevator) | |
| TEST (InnoVtolDynamicsSim, calculateAerodynamicsAoA) | |
| TEST (InnoVtolDynamicsSim, calculateAerodynamicsRealCase) | |
| TEST (thruster, thrusterFirstZeroCmd) | |
| TEST (thruster, thrusterSecond) | |
| TEST (thruster, thrusterThird) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateFirstCaseOnlyAttitude) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateSecondCaseOnlyAngularVelocity) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateThirdCaseOnlyFaero) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateFourthCaseOnlyMaero) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateFifthCaseOnlyCopterMotorsWithEqualPower) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateSixthCaseOnlyCopterMotorsWithNotEqualPower) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateSeventhCaseOnlyICE) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateEightComplexWithoutInitialAttitude) | |
| TEST (InnoVtolDynamicsSim, calculateNewStateEightComplexFull) | |
Function Documentation
◆ calculateNewState()
| void calculateNewState | ( | double | dt, |
| std::vector< double > | actuators, | ||
| Eigen::Vector3d | Maero, | ||
| Eigen::Vector3d | Faero, | ||
| Eigen::Vector3d | initialLinearVelocity, | ||
| Eigen::Vector3d | initialAngularVelocity, | ||
| Eigen::Vector3d | initialPosition, | ||
| Eigen::Quaterniond | initialAttitude, | ||
| Eigen::Vector3d & | expectedAngAccel, | ||
| Eigen::Vector3d & | expectedLinAccel, | ||
| Eigen::Vector3d & | angularAcceleration, | ||
| Eigen::Vector3d & | linearAcceleration | ||
| ) |
- Note
- In InnoDynamics the altitude is directed to the bottom, but in this simulator it is directed to the top, so we perform invertion.
Definition at line 539 of file test_vtol_dynamics.cpp.
◆ main()
| int main | ( | int | argc, |
| char * | argv[] | ||
| ) |
Definition at line 780 of file test_vtol_dynamics.cpp.
◆ TEST() [1/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateWind | |||
| ) |
Definition at line 29 of file test_vtol_dynamics.cpp.
◆ TEST() [2/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAnglesOfAtack | |||
| ) |
Definition at line 40 of file test_vtol_dynamics.cpp.
◆ TEST() [3/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAnglesOfSideslip | |||
| ) |
Definition at line 69 of file test_vtol_dynamics.cpp.
◆ TEST() [4/35]
| TEST | ( | CommonMath | , |
| findPrevRowIdxInIncreasingSequence | |||
| ) |
Definition at line 98 of file test_vtol_dynamics.cpp.
◆ TEST() [5/35]
| TEST | ( | CommonMath | , |
| findPrevRowIdxInMonotonicSequenceIncreasing | |||
| ) |
Definition at line 113 of file test_vtol_dynamics.cpp.
◆ TEST() [6/35]
| TEST | ( | CommonMath | , |
| findPrevRowIdxInMonotonicSequenceDecreasing | |||
| ) |
Definition at line 128 of file test_vtol_dynamics.cpp.
◆ TEST() [7/35]
| TEST | ( | calculateCLPolynomial | , |
| test_normal_scalar | |||
| ) |
Definition at line 143 of file test_vtol_dynamics.cpp.
◆ TEST() [8/35]
| TEST | ( | calculateCLPolynomial | , |
| test_normal_vector | |||
| ) |
Definition at line 156 of file test_vtol_dynamics.cpp.
◆ TEST() [9/35]
| TEST | ( | calculateCLPolynomial | , |
| test_wrong_input_size | |||
| ) |
Definition at line 173 of file test_vtol_dynamics.cpp.
◆ TEST() [10/35]
| TEST | ( | calculateCLPolynomial | , |
| test_wrong_table | |||
| ) |
Definition at line 184 of file test_vtol_dynamics.cpp.
◆ TEST() [11/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateCLPolynomial | |||
| ) |
Definition at line 196 of file test_vtol_dynamics.cpp.
◆ TEST() [12/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateCSPolynomial | |||
| ) |
Definition at line 237 of file test_vtol_dynamics.cpp.
◆ TEST() [13/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateCDPolynomial | |||
| ) |
Definition at line 246 of file test_vtol_dynamics.cpp.
◆ TEST() [14/35]
| TEST | ( | CommonMath | , |
| polyval | |||
| ) |
Definition at line 256 of file test_vtol_dynamics.cpp.
◆ TEST() [15/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| griddata | |||
| ) |
Definition at line 267 of file test_vtol_dynamics.cpp.
◆ TEST() [16/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateCSRudder | |||
| ) |
Definition at line 298 of file test_vtol_dynamics.cpp.
◆ TEST() [17/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateCSBeta | |||
| ) |
Definition at line 327 of file test_vtol_dynamics.cpp.
◆ TEST() [18/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| DISABLED_calculateCmxAileron | |||
| ) |
Definition at line 351 of file test_vtol_dynamics.cpp.
◆ TEST() [19/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAerodynamics | |||
| ) |
Definition at line 366 of file test_vtol_dynamics.cpp.
◆ TEST() [20/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAerodynamicsCaseAileron | |||
| ) |
Definition at line 390 of file test_vtol_dynamics.cpp.
◆ TEST() [21/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAerodynamicsCaseElevator | |||
| ) |
Definition at line 414 of file test_vtol_dynamics.cpp.
◆ TEST() [22/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAerodynamicsAoA | |||
| ) |
Definition at line 438 of file test_vtol_dynamics.cpp.
◆ TEST() [23/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateAerodynamicsRealCase | |||
| ) |
Definition at line 462 of file test_vtol_dynamics.cpp.
◆ TEST() [24/35]
| TEST | ( | thruster | , |
| thrusterFirstZeroCmd | |||
| ) |
Definition at line 486 of file test_vtol_dynamics.cpp.
◆ TEST() [25/35]
| TEST | ( | thruster | , |
| thrusterSecond | |||
| ) |
Definition at line 502 of file test_vtol_dynamics.cpp.
◆ TEST() [26/35]
| TEST | ( | thruster | , |
| thrusterThird | |||
| ) |
Definition at line 518 of file test_vtol_dynamics.cpp.
◆ TEST() [27/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateFirstCaseOnlyAttitude | |||
| ) |
Definition at line 561 of file test_vtol_dynamics.cpp.
◆ TEST() [28/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateSecondCaseOnlyAngularVelocity | |||
| ) |
Definition at line 585 of file test_vtol_dynamics.cpp.
◆ TEST() [29/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateThirdCaseOnlyFaero | |||
| ) |
Definition at line 609 of file test_vtol_dynamics.cpp.
◆ TEST() [30/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateFourthCaseOnlyMaero | |||
| ) |
Definition at line 633 of file test_vtol_dynamics.cpp.
◆ TEST() [31/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateFifthCaseOnlyCopterMotorsWithEqualPower | |||
| ) |
Definition at line 657 of file test_vtol_dynamics.cpp.
◆ TEST() [32/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateSixthCaseOnlyCopterMotorsWithNotEqualPower | |||
| ) |
Definition at line 681 of file test_vtol_dynamics.cpp.
◆ TEST() [33/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateSeventhCaseOnlyICE | |||
| ) |
Definition at line 705 of file test_vtol_dynamics.cpp.
◆ TEST() [34/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateEightComplexWithoutInitialAttitude | |||
| ) |
Definition at line 729 of file test_vtol_dynamics.cpp.
◆ TEST() [35/35]
| TEST | ( | InnoVtolDynamicsSim | , |
| calculateNewStateEightComplexFull | |||
| ) |
Definition at line 754 of file test_vtol_dynamics.cpp.