TEST(IOBoardModelTest, Instantiation) {
IOBoardModel test = IOBoardModel(
Quaternionr(1, 0, 0, 0),
Vector3r(0, 0, 0),
Quaternionr(1, 0, 0, 0),
Quaternionr(1, 0, 0, 0),
Vector3r(0, 0, 0));
EXPECT_EQ(test.collate(), MeasurementVector());
}
const MagneticModel::MeasurementVector& Magnetic::getVector(const Magnetic::Update& update, const State& state) {
y_ = Measurement_<MagneticModel>::getVector(update, state) + deviation_;
if (getModel()->hasMagnitude()) return y_;
double c = 1.0 / y_.norm();
if (isinf(c)) {
y_ = MeasurementVector(0.0);
} else {
y_ = y_ * c;
}
return y_;
}
TEST(IOBoardModelTest, SetThenClear) {
IOBoardModel test = IOBoardModel(
Quaternionr(1, 0, 0, 0),
Vector3r(0, 0, 0),
Quaternionr(1, 0, 0, 0),
Quaternionr(1, 0, 0, 0),
Vector3r(0, 0, 0));
test.set_accelerometer(Vector3r(1, 2, 3));
test.set_gyroscope(Vector3r(4, 5, 6));
test.set_barometer_amsl(7);
test.clear();
EXPECT_EQ(test.collate(), MeasurementVector());
}