32 #include <gtest/gtest.h> 38 for (
int time_const = 20; time_const < 100; time_const += 20)
41 ASSERT_LT(fabs(lpf.
get()), 1e-6);
45 for (
int i = 0; i < time_const; ++i)
50 ASSERT_TRUE(ret == lpf.
get());
51 ASSERT_LT(fabs(ret - (1.0 - expf(-1.0))), 1e-2);
53 for (
int i = time_const; i < time_const * 100; ++i)
58 ASSERT_TRUE(ret == lpf.
get());
59 ASSERT_LT(fabs(ret - 1.0), 1e-2);
63 ASSERT_LT(fabs(lpf.
get() - 1.0), 1e-2);
65 ASSERT_LT(fabs(lpf.
get() - 1.0), 1e-2);
71 for (
int time_const = 20; time_const < 100; time_const += 20)
77 for (
int i = 0; i < time_const * 10; ++i)
84 ASSERT_LT(fabs(ret_l + ret_h - 1.0), 1e-2);
91 for (
float zero = 0.0; zero < M_PI * 2 * 4; zero += M_PI * 2)
94 const float start1 = zero + 0.5;
95 const float end1 = zero + M_PI * 2.0 - 0.5;
99 ASSERT_LT(fabs(lpf.
get() - start1), 1e-6);
100 ASSERT_LT(fabs(lpf_angle.
get() - start1), 1e-6);
102 for (
int i = 0; i < 100; ++i)
106 ASSERT_GT(lpf.
get(), start1);
107 ASSERT_LT(lpf_angle.
get(), start1);
109 ASSERT_LT(fabs(lpf.
get() - end1), 1e-2);
110 ASSERT_LT(fabs(lpf_angle.
get() - (zero - 0.5)), 1e-2);
113 const float start2 = zero - 0.5;
114 const float end2 = zero - M_PI * 2.0 + 0.5;
117 lpf_angle.
set(start2);
118 ASSERT_LT(fabs(lpf.
get() - start2), 1e-6);
119 ASSERT_LT(fabs(lpf_angle.
get() - start2), 1e-6);
121 for (
int i = 0; i < 100; ++i)
125 ASSERT_LT(lpf.
get(), start2);
126 ASSERT_GT(lpf_angle.
get(), start2);
128 ASSERT_LT(fabs(lpf.
get() - end2), 1e-2);
129 ASSERT_LT(fabs(lpf_angle.
get() - (zero + 0.5)), 1e-2);
133 int main(
int argc,
char** argv)
135 testing::InitGoogleTest(&argc, argv);
137 return RUN_ALL_TESTS();
void set(const float &out0)
TEST(Filter, LPFCharacteristic)
int main(int argc, char **argv)