TEST (KalmanFilterTest, KalmanFilterCanInitialize) {
KalmanFilter *kf = new KalmanFilter();
kf->initialize();
ASSERT_EQ(kf->getRelXPosEst(), 0.f);
ASSERT_EQ(kf->getRelYPosEst(), 0.f);
ASSERT_EQ(kf->getRelXVelEst(), 1.f);
ASSERT_EQ(kf->getRelYVelEst(), 0.5f);
ufvector4 initX = boost::numeric::ublas::zero_vector<float> (4);
initX(0) = 10.f;
initX(1) = 11.f;
initX(2) = 12.f;
initX(3) = 13.f;
ufmatrix4 initCov = boost::numeric::ublas::identity_matrix<float> (4);
initCov(0,0) = 1.f;
initCov(1,1) = 2.f;
initCov(2,2) = 3.f;
initCov(3,3) = 4.f;
kf->initialize(initX, initCov);
ASSERT_EQ(kf->getRelXPosEst(), 10.f);
ASSERT_EQ(kf->getRelYPosEst(), 11.f);
ASSERT_EQ(kf->getRelXVelEst(), 12.f);
ASSERT_EQ(kf->getRelYVelEst(), 13.f);
ASSERT_EQ(kf->getCovXPosEst(), 1.f);
ASSERT_EQ(kf->getCovYPosEst(), 2.f);
ASSERT_EQ(kf->getCovXVelEst(), 3.f);
ASSERT_EQ(kf->getCovYVelEst(), 4.f);
}
TEST (KalmanFilterTest, FilterCanPredict) {
KalmanFilter *kf = new KalmanFilter(false);
kf->initialize();
float initX = 0.f;
float initY = 0.f;
float initXVel = 1.f;
float initYVel = 0.5f;
float finalX = 4.f;
float finalY = 2.f;
ASSERT_EQ(initX, kf->getRelXPosEst());
ASSERT_EQ(initY, kf->getRelYPosEst());
messages::RobotLocation odometry;
odometry.set_x(0.f);
odometry.set_y(0.f);
odometry.set_h(0.f);
kf->predict(odometry, 4.f);
ASSERT_EQ(finalX, kf->getRelXPosEst());
ASSERT_EQ(finalY, kf->getRelYPosEst());
}
