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Defines | |
#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) |
#define FILTER_ITERATIONS 10000 |
Definition at line 5 of file madgwick_test.cpp.
#define TEST_STATIONARY_ENU | ( | in_am, | |
exp_result | |||
) |
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 | |||
) |
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 | |||
) |
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.
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.
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.