test_filters.cpp File Reference

Test filter functions. More...

#include "Dynamics/spatial.h"
#include "Math/FirstOrderIIRFilter.h"
#include "Math/orientation_tools.h"
#include "cppTypes.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"

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Functions
	TEST (Filters, firstOrderIIR)

Detailed Description

Test filter functions.

Test the various filters

Definition in file test_filters.cpp.

Function Documentation

TEST	(	Filters	,
		firstOrderIIR
	)

Test the firstOrderIIR filter with Eigen Vec3's

Definition at line 20 of file test_filters.cpp.

References almostEqual(), FirstOrderIIRFilter< T, T2 >::get(), and FirstOrderIIRFilter< T, T2 >::update().

                             {
  Vec3<double> x0(1, 2, 3);
  FirstOrderIIRFilter<Vec3<double>, double> filt(0.2, x0);
  Vec3<double> update(5, 5, 5);
  filt.update(update);
  Vec3<double> expected = x0 * 0.8 + 0.2 * update;
  EXPECT_TRUE(almostEqual(expected, filt.get(), .0001));
}

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