261 lines
8.1 KiB
C++
261 lines
8.1 KiB
C++
#include <cmath>
|
|
#include <sstream>
|
|
|
|
#include <scmp/geom/Vector.h>
|
|
#include <scmp/geom/Quaternion.h>
|
|
#include <scmp/Math.h>
|
|
#include <scmp/filter/Madgwick.h>
|
|
|
|
#include <sctest/Assert.h>
|
|
#include <sctest/Checks.h>
|
|
#include <sctest/SimpleSuite.h>
|
|
|
|
using namespace std;
|
|
using namespace scmp;
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientationFloat()
|
|
{
|
|
filter::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.
|
|
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);
|
|
}
|
|
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.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);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientationFloatDefaultDT()
|
|
{
|
|
filter::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.
|
|
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
|
|
|
|
mflt.DeltaT(delta);
|
|
|
|
// 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);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.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);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
VerifyUpdateWithZeroDeltaTFails()
|
|
{
|
|
filter::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);
|
|
|
|
// 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);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.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);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientationDouble()
|
|
{
|
|
filter::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.
|
|
const double twentyDegrees = scmp::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++) {
|
|
mflt.UpdateAngularOrientation(gyro, delta);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.Euler();
|
|
SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
|
|
SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
|
|
SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientation2InitialVector3f()
|
|
{
|
|
const geom::Vector3f initialFrame{0, 0, 0};
|
|
filter::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.
|
|
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);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.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);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientation2InitialQuaternionf()
|
|
{
|
|
const auto initialFrame = geom::quaternionf_from_euler({0, 0, 0});
|
|
filter::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.
|
|
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);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.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);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientation2InitialVector3d()
|
|
{
|
|
const geom::Vector3d initialFrame{0, 0, 0};
|
|
filter::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.
|
|
const double twentyDegrees = scmp::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++) {
|
|
mflt.UpdateAngularOrientation(gyro, delta);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.Euler();
|
|
SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
|
|
SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
|
|
SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool
|
|
SimpleAngularOrientation2InitialQuaterniond()
|
|
{
|
|
const auto initialFrame = geom::quaterniond_from_euler({0, 0, 0});
|
|
filter::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.
|
|
const double twentyDegrees = scmp::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++) {
|
|
mflt.UpdateAngularOrientation(gyro, delta);
|
|
}
|
|
|
|
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
|
|
|
auto euler = mflt.Euler();
|
|
SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
|
|
SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
|
|
SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
int
|
|
main(int argc, char **argv)
|
|
{
|
|
(void)argc;
|
|
(void)argv;
|
|
|
|
sctest::SimpleSuite suite;
|
|
|
|
suite.AddTest("SimpleAngularOrientationFloat",
|
|
SimpleAngularOrientationFloat);
|
|
suite.AddTest("SimpleAngularOrientationFloatDefaultDT",
|
|
SimpleAngularOrientationFloatDefaultDT);
|
|
suite.AddFailingTest("VerifyUpdateWithZeroDeltaTFails",
|
|
VerifyUpdateWithZeroDeltaTFails);
|
|
suite.AddTest("SimpleAngularOrientationDouble",
|
|
SimpleAngularOrientationDouble);
|
|
suite.AddTest("SimpleAngularOrientationFloat (inital vector3f)",
|
|
SimpleAngularOrientation2InitialVector3f);
|
|
suite.AddTest("SimpleAngularOrientationDouble (inital vector3d)",
|
|
SimpleAngularOrientation2InitialVector3d);
|
|
suite.AddTest("SimpleAngularOrientationFloat (inital quaternionf)",
|
|
SimpleAngularOrientation2InitialQuaternionf);
|
|
suite.AddTest("SimpleAngularOrientationDouble (inital quaterniond)",
|
|
SimpleAngularOrientation2InitialQuaterniond);
|
|
|
|
auto result = suite.Run();
|
|
|
|
std::cout << suite.GetReport() << "\n";
|
|
return result ? 0 : 1;
|
|
}
|