Kyle Isom
c47c91f418
Brings the C++ library in line with the Rust wrmath crate in astro-rs, which extends this library with additional geometry and estimation primitives. All changes generated with AI assistance (Claude Fable 5). New headers: - wrmath/geom/matrix.h: Matrix<T,M,N> with rank, det, inv, transpose, and matrix-vector/matrix-matrix multiplication - wrmath/geom/coord2d.h: Polar<T> 2D polar coordinates with navigation convention (clockwise-positive heading) - wrmath/geom/coord3d.h: Spherical<T> 3D spherical coordinates with yaw/pitch, slerp, great-circle path interpolation, and quaternion direction - wrmath/estim/imu.h: IMU<T> for 6-DoF and 9-DoF (MARG) sensor fusion Extensions to existing headers: - math.h: Epsilon3/6/Max constants; AbsTolerance (NaN/inf-safe), AbsError, RotateRadians, Circumference - vector.h: zero(), withEpsilon(), asArray(), fromArray/Eps(), map(), isNaN(), angle2() (signed), euclidist(), projectLower/Tail<M>(), x()/y()/z() accessors; fixed isParallel() to use unit-vector equality (matches Rust fix for macOS/arm64 acos domain issue) - quaternion.h: lerp(), slerp() methods; jacobian() returning Matrix<T,3,4>; direction() - filter/madgwick.h: beta gain field, setDeltaT(), setGain(), direction(), updateFrame2(), updateAngularOrientation2() - orientation.h/.cc: RBearing3d/f, ABearing3d/f, CompassHeading3d/f Infrastructure: - C++ standard bumped to C++17 (required for std::optional) - CMake include path fixed so source-relative includes work - Umbrella headers (geom.h, filter.h) updated Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
#include <cmath>
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#include <sstream>
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#include <gtest/gtest.h>
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#include "wrmath/geom/vector.h"
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#include "wrmath/geom/quaternion.h"
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#include "wrmath/math.h"
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#include "wrmath/filter/madgwick.h"
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using namespace std;
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using namespace wr;
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TEST(MadgwickFilter, SimpleAngularOrientation)
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{
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filter::Madgwickd mf;
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geom::Vector3d gyro {0.174533, 0.0, 0.0}; // 10° X rotation.
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geom::Quaterniond frame20Deg {0.984808, 0.173648, 0, 0}; // 20° final orientation.
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double delta = 0.00917; // assume 109 updates per second, as per the paper.
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double twentyDegrees = math::DegreesToRadiansD(20.0);
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// The paper specifies a minimum of 109 IMU readings to stabilize; for
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// two seconds, that means 218 updates.
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for (int i = 0; i < 218; i++) {
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mf.updateAngularOrientation(gyro, delta);
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}
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EXPECT_EQ(mf.orientation(), frame20Deg);
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auto euler = mf.euler();
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EXPECT_NEAR(euler[0], twentyDegrees, 0.01);
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EXPECT_NEAR(euler[1], 0.0, 0.01);
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EXPECT_NEAR(euler[2], 0.0, 0.01);
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}
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int
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main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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