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clang-tidy fixes, documentation, refactoring.

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This commit is contained in:
Kyle Isom
2023-10-21 02:07:59 -07:00
parent 4e83da345f
commit aee337f2e9
26 changed files with 325 additions and 238 deletions
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34
test/madgwick.cc
View File

@@ -7,7 +7,7 @@
#include <scmp/geom/Quaternion.h>
#include <scmp/Math.h>
#include <scmp/filter/Madgwick.h>
#include <scmp/estimation/Madgwick.h>
#include <sctest/Assert.h>
#include <sctest/Checks.h>
#include <sctest/SimpleSuite.h>
@@ -20,22 +20,22 @@ using namespace scmp;
bool
SimpleAngularOrientationFloat()
{
filter::Madgwickf mflt;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
estimation::Madgwickf estimation;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
const float twentyDegrees = scmp::DegreesToRadiansF(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++) {
mflt.UpdateAngularOrientation(gyro, delta);
estimation.UpdateAngularOrientation(gyro, delta);
}
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
SCTEST_CHECK_EQ(estimation.Orientation(), frame20Deg);
auto euler = mflt.Euler();
auto euler = estimation.Euler();
SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
@@ -47,7 +47,7 @@ SimpleAngularOrientationFloat()
bool
SimpleAngularOrientationFloatDefaultDT()
{
filter::Madgwickf mflt;
estimation::Madgwickf mflt;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
@@ -75,7 +75,7 @@ SimpleAngularOrientationFloatDefaultDT()
bool
VerifyUpdateWithZeroDeltaTFails()
{
filter::Madgwickf mflt;
estimation::Madgwickf mflt;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
@@ -100,7 +100,7 @@ VerifyUpdateWithZeroDeltaTFails()
bool
SimpleAngularOrientationDouble()
{
filter::Madgwickd mflt;
estimation::Madgwickd mflt;
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
@@ -127,7 +127,7 @@ bool
SimpleAngularOrientation2InitialVector3f()
{
const geom::Vector3F initialFrame{0, 0, 0};
filter::Madgwickf mflt(initialFrame);
estimation::Madgwickf mflt(initialFrame);
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
@@ -154,7 +154,7 @@ bool
SimpleAngularOrientation2InitialQuaternionf()
{
const auto initialFrame = geom::FloatQuaternionFromEuler({0, 0, 0});
filter::Madgwickf mflt(initialFrame);
estimation::Madgwickf mflt(initialFrame);
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
@@ -181,7 +181,7 @@ bool
SimpleAngularOrientation2InitialVector3d()
{
const geom::Vector3D initialFrame{0, 0, 0};
filter::Madgwickd mflt(initialFrame);
estimation::Madgwickd mflt(initialFrame);
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
@@ -208,7 +208,7 @@ bool
SimpleAngularOrientation2InitialQuaterniond()
{
const auto initialFrame = geom::DoubleQuaternionFromEuler({0, 0, 0});
filter::Madgwickd mflt(initialFrame);
estimation::Madgwickd mflt(initialFrame);
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
@@ -236,8 +236,8 @@ main(int argc, char **argv)
{
auto quiet = false;
auto noReport = false;
auto flags = new scsl::Flags("test_madgwick",
"This test validates the Madgwick filter code");
auto *flags = new scsl::Flags("test_madgwick",
"This test validates the Madgwick estimation code");
flags->Register("-n", false, "don't print the report");
flags->Register("-q", false, "suppress test output");

16
test/orientation.cc
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@@ -45,7 +45,7 @@ UnitConversions_RadiansToDegreesD()
bool
Orientation2f_Heading()
{
geom::Vector2F a{2.0, 2.0};
geom::Vector2F const a{2.0, 2.0};
SCTEST_CHECK_FEQ(geom::Heading2F(a), scmp::DegreesToRadiansF(45));
@@ -56,9 +56,9 @@ Orientation2f_Heading()
bool
Orientation3f_Heading()
{
geom::Vector3F a{2.0, 2.0, 2.0};
geom::Vector3F const a{2.0, 2.0, 2.0};
SCTEST_CHECK_FEQ(geom::Heading3f(a), scmp::DegreesToRadiansF(45));
SCTEST_CHECK_FEQ(geom::Heading3F(a), scmp::DegreesToRadiansF(45));
return true;
}
@@ -67,18 +67,18 @@ Orientation3f_Heading()
bool
Orientation2d_Heading()
{
geom::Vector2D a{2.0, 2.0};
geom::Vector2D const a{2.0, 2.0};
return scmp::WithinTolerance(geom::Heading2d(a), scmp::DegreesToRadiansD(45), 0.000001);
return scmp::WithinTolerance(geom::Heading2D(a), scmp::DegreesToRadiansD(45), 0.000001) != 0.0;
}
bool
Orientation3d_Heading()
{
geom::Vector3D a{2.0, 2.0, 2.0};
geom::Vector3D const a{2.0, 2.0, 2.0};
return scmp::WithinTolerance(geom::Heading3d(a), scmp::DegreesToRadiansD(45), 0.000001);
return scmp::WithinTolerance(geom::Heading3D(a), scmp::DegreesToRadiansD(45), 0.000001) != 0.0;
}
@@ -90,7 +90,7 @@ main(int argc, char *argv[])
{
auto noReport = false;
auto quiet = false;
auto flags = new scsl::Flags("test_orientation",
auto *flags = new scsl::Flags("test_orientation",
"This test validates various orientation-related components in scmp.");
flags->Register("-n", false, "don't print the report");
flags->Register("-q", false, "suppress test output");

26
test/stringutil.cc
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@@ -42,30 +42,30 @@ TestTrimming(std::string line, std::string lExpected, std::string rExpected, std
std::string result;
std::string message;
result = U::S::TrimLeadingWhitespaceDup(line);
result = string::TrimLeadingWhitespaceDup(line);
message = "TrimLeadingDup(\"" + line + "\"): '" + result + "'";
sctest::Assert(result == lExpected, message);
result = U::S::TrimTrailingWhitespaceDup(line);
result = string::TrimTrailingWhitespaceDup(line);
message = "TrimTrailingDup(\"" + line + "\"): '" + result + "'";
sctest::Assert(result == rExpected, message);
result = U::S::TrimWhitespaceDup(line);
result = string::TrimWhitespaceDup(line);
message = "TrimDup(\"" + line + "\"): '" + result + "'";
sctest::Assert(result == expected, message);
result = line;
U::S::TrimLeadingWhitespace(result);
string::TrimLeadingWhitespace(result);
message = "TrimLeadingDup(\"" + line + "\"): '" + result + "'";
sctest::Assert(result == lExpected, message);
result = line;
U::S::TrimTrailingWhitespace(result);
string::TrimTrailingWhitespace(result);
message = "TrimTrailingDup(\"" + line + "\"): '" + result + "'";
sctest::Assert(result == rExpected, message);
result = line;
U::S::TrimWhitespace(result);
string::TrimWhitespace(result);
message = "TrimDup(\"" + line + "\"): '" + result + "'";
sctest::Assert(result == expected, message);
}
@@ -75,7 +75,7 @@ std::function<bool()>
TestSplit(std::string line, std::string delim, size_t maxCount, std::vector<std::string> expected)
{
return [line, delim, maxCount, expected]() {
return U::S::SplitN(line, delim, maxCount) == expected;
return string::SplitN(line, delim, maxCount) == expected;
};
}
@@ -86,7 +86,7 @@ TestSplitChar()
{
auto expected = std::vector<std::string>{"hello", "world"};
const auto *inputLine = "hello=world\n";
auto actual = U::S::SplitKeyValuePair(inputLine, '=');
auto actual = string::SplitKeyValuePair(inputLine, '=');
return actual == expected;
}
@@ -109,11 +109,11 @@ TestWrapping()
"hope so.",
};
auto wrapped = U::S::WrapText(testLine, 16);
auto wrapped = string::WrapText(testLine, 16);
if (wrapped.size() != expected.size()) {
std::cerr << U::S::VectorToString(wrapped)
std::cerr << string::VectorToString(wrapped)
<< " != "
<< U::S::VectorToString(expected)
<< string::VectorToString(expected)
<< "\n";
}
@@ -127,7 +127,7 @@ TestWrapping()
return false;
}
// U::S::WriteTabIndented(std::cout, wrapped, 4, true);
// string::WriteTabIndented(std::cout, wrapped, 4, true);
return true;
}
@@ -140,7 +140,7 @@ main(int argc, char *argv[])
{
auto noReport = false;
auto quiet = false;
auto flags = new scsl::Flags("test_orientation",
auto *flags = new scsl::Flags("test_orientation",
"This test validates various orientation-related components in scmp.");
flags->Register("-n", false, "don't print the report");
flags->Register("-q", false, "suppress test output");