wrmath/test/madgwick_test.cc

42 lines
1.1 KiB
C++

#include <cmath>
#include <sstream>
#include <gtest/gtest.h>
#include <wrmath/geom/vector.h>
#include <wrmath/geom/quaternion.h>
#include <wrmath/math.h>
#include <wrmath/filter/madgwick.h>
using namespace std;
using namespace wr;
TEST(MadgwickFilter, SimpleAngularOrientation)
{
filter::Madgwickd mf;
geom::Vector3d gyro {0.174533, 0.0, 0.0}; // 10° X rotation.
geom::Quaterniond frame20Deg {0.984808, 0.173648, 0, 0}; // 20° final orientation.
double delta = 0.00917; // assume 109 updates per second, as per the paper.
double twentyDegrees = math::DegreesToRadiansD(20.0);
// The paper specifies a minimum of 109 IMU readings to stabilize; for
// two seconds, that means 218 updates.
for (int i = 0; i < 218; i++) {
mf.updateAngularOrientation(gyro, delta);
}
EXPECT_EQ(mf.orientation(), frame20Deg);
auto euler = mf.euler();
EXPECT_NEAR(euler[0], twentyDegrees, 0.01);
EXPECT_NEAR(euler[1], 0.0, 0.01);
EXPECT_NEAR(euler[2], 0.0, 0.01);
}
int
main(int argc, char **argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}