#include <gtest/gtest.h>
#include <iostream>
#include <Eigen/Geometry>
#include <random>
#include "vtolDynamicsSim.hpp"
#include "common_math.hpp"

Include dependency graph for test_vtol_dynamics.cpp:

Functions
void	calculateNewState (double dt, std::vector< double > motors, 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 (calculateCLPolynomial, test_normal_scalar)

	TEST (calculateCLPolynomial, test_normal_vector)

	TEST (calculateCLPolynomial, test_wrong_input_size)

	TEST (calculateCLPolynomial, test_wrong_table)

	TEST (CommonMath, findPrevRowIdxInIncreasingSequence)

	TEST (CommonMath, findPrevRowIdxInMonotonicSequenceDecreasing)

	TEST (CommonMath, findPrevRowIdxInMonotonicSequenceIncreasing)

	TEST (CommonMath, polyval)

	TEST (thruster, thrusterFirstZeroCmd)

	TEST (thruster, thrusterSecond)

	TEST (thruster, thrusterThird)

	TEST (VtolDynamics, calculateAerodynamics)

	TEST (VtolDynamics, calculateAerodynamicsAoA)

	TEST (VtolDynamics, calculateAerodynamicsCaseAileron)

	TEST (VtolDynamics, calculateAerodynamicsCaseElevator)

	TEST (VtolDynamics, calculateAerodynamicsRealCase)

	TEST (VtolDynamics, calculateAnglesOfAtack)

	TEST (VtolDynamics, calculateAnglesOfSideslip)

	TEST (VtolDynamics, calculateCDPolynomial)

	TEST (VtolDynamics, calculateCLPolynomial)

	TEST (VtolDynamics, calculateCSBeta)

	TEST (VtolDynamics, calculateCSPolynomial)

	TEST (VtolDynamics, calculateCSRudder)

	TEST (VtolDynamics, calculateNewState_1_OnlyAttitude)

	TEST (VtolDynamics, calculateNewState_2_OnlyAngularVelocity)

	TEST (VtolDynamics, calculateNewState_3_OnlyFaero)

	TEST (VtolDynamics, calculateNewState_4_OnlyMaero)

	TEST (VtolDynamics, calculateNewState_5_OnlyCopterMotorsWithEqualPower)

	TEST (VtolDynamics, calculateNewState_6_OnlyCopterMotorsWithNotEqualPower)

	TEST (VtolDynamics, calculateNewState_7_OnlyICE)

	TEST (VtolDynamics, calculateNewState_8_ComplexWithoutInitialAttitude)

	TEST (VtolDynamics, calculateNewState_9_EightComplexFull)

	TEST (VtolDynamics, calculateWind)

	TEST (VtolDynamics, DISABLED_calculateCmxAileron)

	TEST (VtolDynamics, griddata)

Function Documentation

◆ calculateNewState()

void calculateNewState	(	double	dt,
		std::vector< double >	motors,
		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 523 of file test_vtol_dynamics.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 764 of file test_vtol_dynamics.cpp.

◆ TEST() [1/35]

TEST	(	calculateCLPolynomial	,
		test_normal_scalar
	)

Definition at line 142 of file test_vtol_dynamics.cpp.

◆ TEST() [2/35]

TEST	(	calculateCLPolynomial	,
		test_normal_vector
	)

Definition at line 155 of file test_vtol_dynamics.cpp.

◆ TEST() [3/35]

TEST	(	calculateCLPolynomial	,
		test_wrong_input_size
	)

Definition at line 172 of file test_vtol_dynamics.cpp.

◆ TEST() [4/35]

TEST	(	calculateCLPolynomial	,
		test_wrong_table
	)

Definition at line 183 of file test_vtol_dynamics.cpp.

◆ TEST() [5/35]

TEST	(	CommonMath	,
		findPrevRowIdxInIncreasingSequence
	)

Definition at line 97 of file test_vtol_dynamics.cpp.

◆ TEST() [6/35]

TEST	(	CommonMath	,
		findPrevRowIdxInMonotonicSequenceDecreasing
	)

Definition at line 127 of file test_vtol_dynamics.cpp.

◆ TEST() [7/35]

TEST	(	CommonMath	,
		findPrevRowIdxInMonotonicSequenceIncreasing
	)

Definition at line 112 of file test_vtol_dynamics.cpp.

◆ TEST() [8/35]

TEST	(	CommonMath	,
		polyval
	)

Definition at line 255 of file test_vtol_dynamics.cpp.

◆ TEST() [9/35]

TEST	(	thruster	,
		thrusterFirstZeroCmd
	)

Definition at line 470 of file test_vtol_dynamics.cpp.

◆ TEST() [10/35]

TEST	(	thruster	,
		thrusterSecond
	)

Definition at line 486 of file test_vtol_dynamics.cpp.

◆ TEST() [11/35]

TEST	(	thruster	,
		thrusterThird
	)

Definition at line 502 of file test_vtol_dynamics.cpp.

◆ TEST() [12/35]

TEST	(	VtolDynamics	,
		calculateAerodynamics
	)

Definition at line 365 of file test_vtol_dynamics.cpp.

◆ TEST() [13/35]

TEST	(	VtolDynamics	,
		calculateAerodynamicsAoA
	)

Definition at line 428 of file test_vtol_dynamics.cpp.

◆ TEST() [14/35]

TEST	(	VtolDynamics	,
		calculateAerodynamicsCaseAileron
	)

Definition at line 386 of file test_vtol_dynamics.cpp.

◆ TEST() [15/35]

TEST	(	VtolDynamics	,
		calculateAerodynamicsCaseElevator
	)

Definition at line 407 of file test_vtol_dynamics.cpp.

◆ TEST() [16/35]

TEST	(	VtolDynamics	,
		calculateAerodynamicsRealCase
	)

Definition at line 449 of file test_vtol_dynamics.cpp.

◆ TEST() [17/35]

TEST	(	VtolDynamics	,
		calculateAnglesOfAtack
	)

Definition at line 39 of file test_vtol_dynamics.cpp.

◆ TEST() [18/35]

TEST	(	VtolDynamics	,
		calculateAnglesOfSideslip
	)

Definition at line 68 of file test_vtol_dynamics.cpp.

◆ TEST() [19/35]

TEST	(	VtolDynamics	,
		calculateCDPolynomial
	)

Definition at line 245 of file test_vtol_dynamics.cpp.

◆ TEST() [20/35]

TEST	(	VtolDynamics	,
		calculateCLPolynomial
	)

Definition at line 195 of file test_vtol_dynamics.cpp.

◆ TEST() [21/35]

TEST	(	VtolDynamics	,
		calculateCSBeta
	)

Definition at line 326 of file test_vtol_dynamics.cpp.

◆ TEST() [22/35]

TEST	(	VtolDynamics	,
		calculateCSPolynomial
	)

Definition at line 236 of file test_vtol_dynamics.cpp.

◆ TEST() [23/35]

TEST	(	VtolDynamics	,
		calculateCSRudder
	)

Definition at line 297 of file test_vtol_dynamics.cpp.

◆ TEST() [24/35]

TEST	(	VtolDynamics	,
		calculateNewState_1_OnlyAttitude
	)

Definition at line 545 of file test_vtol_dynamics.cpp.

◆ TEST() [25/35]

TEST	(	VtolDynamics	,
		calculateNewState_2_OnlyAngularVelocity
	)

Definition at line 569 of file test_vtol_dynamics.cpp.

◆ TEST() [26/35]

TEST	(	VtolDynamics	,
		calculateNewState_3_OnlyFaero
	)

Definition at line 593 of file test_vtol_dynamics.cpp.

◆ TEST() [27/35]

TEST	(	VtolDynamics	,
		calculateNewState_4_OnlyMaero
	)

Definition at line 617 of file test_vtol_dynamics.cpp.

◆ TEST() [28/35]

TEST	(	VtolDynamics	,
		calculateNewState_5_OnlyCopterMotorsWithEqualPower
	)

Definition at line 641 of file test_vtol_dynamics.cpp.

◆ TEST() [29/35]

TEST	(	VtolDynamics	,
		calculateNewState_6_OnlyCopterMotorsWithNotEqualPower
	)

Definition at line 665 of file test_vtol_dynamics.cpp.

◆ TEST() [30/35]

TEST	(	VtolDynamics	,
		calculateNewState_7_OnlyICE
	)

Definition at line 689 of file test_vtol_dynamics.cpp.

◆ TEST() [31/35]

TEST	(	VtolDynamics	,
		calculateNewState_8_ComplexWithoutInitialAttitude
	)

Definition at line 713 of file test_vtol_dynamics.cpp.

◆ TEST() [32/35]

TEST	(	VtolDynamics	,
		calculateNewState_9_EightComplexFull
	)

Definition at line 738 of file test_vtol_dynamics.cpp.

◆ TEST() [33/35]

TEST	(	VtolDynamics	,
		calculateWind
	)

Definition at line 28 of file test_vtol_dynamics.cpp.

◆ TEST() [34/35]

TEST	(	VtolDynamics	,
		DISABLED_calculateCmxAileron
	)

Definition at line 350 of file test_vtol_dynamics.cpp.

◆ TEST() [35/35]

TEST	(	VtolDynamics	,
		griddata
	)

Definition at line 266 of file test_vtol_dynamics.cpp.

Functions