test/common.h File Reference

#include "test_board.h"
#include "rosflight.h"
#include <turbomath/turbomath.h>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Geometry>
#include <gtest/gtest.h>
#include <cstdint>

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Macros
#define	ASSERT_BASICALLYTHESAME(x, y)   ASSERT_NEAR(x, y, 0.00001)
#define	ASSERT_CLOSE(x, y)   ASSERT_NEAR(x, y, 0.01)
#define	ASSERT_INTHESAMEBALLPARK(x, y)   ASSERT_NEAR(x, y, 0.1)
#define	ASSERT_QUAT_SUPERCLOSE(q, q_eig)
#define	ASSERT_SUPERCLOSE(x, y)   ASSERT_NEAR(x, y, 0.0001)
#define	ASSERT_TURBOQUAT_SUPERCLOSE(q, q2)
#define	EXPECT_BASICALLYTHESAME(x, y)   EXPECT_NEAR(x, y, 0.00001)
#define	EXPECT_CLOSE(x, y)   EXPECT_NEAR(x, y, 0.01)
#define	EXPECT_INTHESAMEBALLPARK(x, y)   EXPECT_NEAR(x, y, 0.1)
#define	EXPECT_QUAT_SUPERCLOSE(q, q_eig)
#define	EXPECT_SUPERCLOSE(x, y)   EXPECT_NEAR(x, y, 0.0001)
#define	EXPECT_VEC3_SUPERCLOSE(vec, eig)

Functions
double	quaternion_error (turbomath::Quaternion q0, turbomath::Quaternion q)
double	quaternion_error (Eigen::Quaternionf q_eig, turbomath::Quaternion q)
void	step_firmware (rosflight_firmware::ROSflight &rf, rosflight_firmware::testBoard &board, uint32_t us)

Macro Definition Documentation

#define ASSERT_BASICALLYTHESAME	(		x,
			y
	)		ASSERT_NEAR(x, y, 0.00001)

Definition at line 55 of file test/common.h.

#define ASSERT_CLOSE	(		x,
			y
	)		ASSERT_NEAR(x, y, 0.01)

Definition at line 57 of file test/common.h.

#define ASSERT_INTHESAMEBALLPARK	(		x,
			y
	)		ASSERT_NEAR(x, y, 0.1)

Definition at line 58 of file test/common.h.

#define ASSERT_QUAT_SUPERCLOSE	(		q,
			q_eig
	)

Value:

{                                               \
    double e1 = quaternion_error((q_eig), (q));   \
    Eigen::Quaternionf q_eig_neg = q_eig;         \
    q_eig_neg.coeffs() *= -1.0;                   \
    double e2 = quaternion_error(q_eig_neg, (q)); \
    double error = (e1 < e2) ? e1 : e2;           \
    EXPECT_LE(error, 0.0001);                     \
  }

Definition at line 27 of file test/common.h.

#define ASSERT_SUPERCLOSE	(		x,
			y
	)		ASSERT_NEAR(x, y, 0.0001)

Definition at line 56 of file test/common.h.

#define ASSERT_TURBOQUAT_SUPERCLOSE	(		q,
			q2
	)

Value:

{                                          \
    double e1 = quaternion_error(q, q2);     \
    turbomath::Quaternion q2_neg = q2;       \
    q2_neg.w *= -1.0;                        \
    q2_neg.x *= -1.0;                        \
    q2_neg.y *= -1.0;                        \
    q2_neg.z *= -1.0;                        \
    double e2 = quaternion_error(q, q2_neg); \
    double error = (e1 < e2) ? e1 : e2;      \
    ASSERT_LE(error, 0.0001);                \
  }

Definition at line 37 of file test/common.h.

#define EXPECT_BASICALLYTHESAME	(		x,
			y
	)		EXPECT_NEAR(x, y, 0.00001)

Definition at line 50 of file test/common.h.

#define EXPECT_CLOSE	(		x,
			y
	)		EXPECT_NEAR(x, y, 0.01)

Definition at line 52 of file test/common.h.

#define EXPECT_INTHESAMEBALLPARK	(		x,
			y
	)		EXPECT_NEAR(x, y, 0.1)

Definition at line 53 of file test/common.h.

#define EXPECT_QUAT_SUPERCLOSE	(		q,
			q_eig
	)

Value:

{                                               \
    double e1 = quaternion_error((q_eig), (q));   \
    Eigen::Quaternionf q_eig_neg = q_eig;         \
    q_eig_neg.coeffs() *= -1.0;                   \
    double e2 = quaternion_error(q_eig_neg, (q)); \
    double error = (e1 < e2) ? e1 : e2;           \
    EXPECT_LE(error, 0.0001);                     \
  }

Definition at line 18 of file test/common.h.

#define EXPECT_SUPERCLOSE	(		x,
			y
	)		EXPECT_NEAR(x, y, 0.0001)

Definition at line 51 of file test/common.h.

#define EXPECT_VEC3_SUPERCLOSE	(		vec,
			eig
	)

Value:

EXPECT_NEAR((vec).x, (eig).x(), 0.0001); \
  EXPECT_NEAR((vec).y, (eig).y(), 0.0001); \
  EXPECT_NEAR((vec).z, (eig).z(), 0.0001)

Definition at line 14 of file test/common.h.

Function Documentation

double quaternion_error	(	turbomath::Quaternion	q0,
		turbomath::Quaternion	q
	)

Definition at line 16 of file common.cpp.

double quaternion_error	(	Eigen::Quaternionf	q_eig,
		turbomath::Quaternion	q
	)

Definition at line 3 of file common.cpp.

void step_firmware	(	rosflight_firmware::ROSflight &	rf,
		rosflight_firmware::testBoard &	board,
		uint32_t	us
	)

Definition at line 30 of file common.cpp.