Cheetah Software
1.0
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#include "SimUtilities/ImuSimulator.h"
#include "cppTypes.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
Go to the source code of this file.
Functions | |
TEST (ImuSimulator, passThrough) | |
TEST (ImuSimulator, orientation) | |
TEST (ImuSimulator, omega) | |
TEST (ImuSimulator, omegaCrossV) | |
TEST (ImuSimulator, noise) | |
TEST | ( | ImuSimulator | , |
passThrough | |||
) |
Definition at line 14 of file test_ImuSimulator.cpp.
References VectorNavData::accelerometer, almostEqual(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyVelocity, FBModelStateDerivative< T >::dBodyVelocity, VectorNavData::gyro, VectorNavData::quat, ImuSimulator< T >::updateVectornav(), and vn.
TEST | ( | ImuSimulator | , |
orientation | |||
) |
Definition at line 58 of file test_ImuSimulator.cpp.
References VectorNavData::accelerometer, almostEqual(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyPosition, FBModelState< T >::bodyVelocity, ori::coordinateRotation(), FBModelStateDerivative< T >::dBodyPosition, FBModelStateDerivative< T >::dBodyVelocity, VectorNavData::gyro, VectorNavData::quat, ori::rotationMatrixToQuaternion(), ImuSimulator< T >::updateVectornav(), and vn.
TEST | ( | ImuSimulator | , |
omega | |||
) |
Definition at line 103 of file test_ImuSimulator.cpp.
References almostEqual(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyPosition, FBModelState< T >::bodyVelocity, ori::coordinateRotation(), FBModelStateDerivative< T >::dBodyPosition, FBModelStateDerivative< T >::dBodyVelocity, VectorNavData::gyro, VectorNavData::quat, ori::rotationMatrixToQuaternion(), ImuSimulator< T >::updateVectornav(), and vn.
TEST | ( | ImuSimulator | , |
omegaCrossV | |||
) |
Definition at line 146 of file test_ImuSimulator.cpp.
References VectorNavData::accelerometer, almostEqual(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyPosition, FBModelState< T >::bodyVelocity, FBModelStateDerivative< T >::dBodyPosition, FBModelStateDerivative< T >::dBodyVelocity, VectorNavData::gyro, VectorNavData::quat, ori::rotationMatrixToQuaternion(), ImuSimulator< T >::updateVectornav(), and vn.
TEST | ( | ImuSimulator | , |
noise | |||
) |
Definition at line 195 of file test_ImuSimulator.cpp.
References almostEqual(), FBModelState< T >::bodyOrientation, FBModelState< T >::bodyPosition, FBModelState< T >::bodyVelocity, ori::coordinateRotation(), FBModelStateDerivative< T >::dBodyPosition, FBModelStateDerivative< T >::dBodyVelocity, VectorNavData::quat, ori::quatToRPY(), ori::rotationMatrixToQuaternion(), ImuSimulator< T >::updateVectornav(), and vn.