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tests: Equivalent tests for the non-integer low pass filter

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This commit is contained in:
Ryan Pavlik 2022-02-18 15:45:21 -06:00
parent 4156cabedf
commit b621fef75d
2 changed files with 77 additions and 0 deletions
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2
tests/CMakeLists.txt
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@ -17,6 +17,7 @@ foreach(
tests_id_ringbuffer
tests_input_transform
tests_json
tests_lowpass
tests_lowpass_int
tests_pacing
tests_quatexpmap
@ -34,6 +35,7 @@ endforeach()
target_link_libraries(tests_cxx_wrappers PRIVATE xrt-interfaces)
target_link_libraries(tests_history_buf PRIVATE aux_math)
target_link_libraries(tests_input_transform PRIVATE st_oxr xrt-interfaces xrt-external-openxr)
target_link_libraries(tests_lowpass PRIVATE aux_tracking)
target_link_libraries(tests_lowpass_int PRIVATE aux_tracking)
target_link_libraries(tests_quatexpmap PRIVATE aux_math)
target_link_libraries(tests_rational PRIVATE aux_math)

75
tests/tests_lowpass.cpp Normal file
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@ -0,0 +1,75 @@
// Copyright 2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Scalar float low pass filter tests.
* @author Ryan Pavlik <ryan.pavlik@collabora.com>
*/
#include <tracking/t_lowpass.hpp>
#include "catch/catch.hpp"
using xrt::auxiliary::tracking::LowPassIIRFilter;
static constexpr float InitialState = 300;
static constexpr timepoint_ns InitialTime = 12345;
static constexpr timepoint_ns StepSize = U_TIME_1MS_IN_NS * 20;
TEMPLATE_TEST_CASE("t_lowpass", "", float, double)
{
LowPassIIRFilter<TestType> filter(100);
CHECK_FALSE(filter.isInitialized());
timepoint_ns now = InitialTime;
filter.addSample(InitialState, now);
CHECK(filter.getState() == InitialState);
CHECK(filter.getTimestampNs() == now);
CHECK(filter.isInitialized());
auto prev = filter.getState();
SECTION("Increase")
{
constexpr auto newTarget = InitialState * 2;
for (int i = 0; i < 20; ++i) {
now += StepSize;
filter.addSample(newTarget, now);
REQUIRE(filter.isInitialized());
CHECK(filter.getTimestampNs() == now);
// not going to exceed this
if (prev == newTarget) {
REQUIRE(filter.getState() == prev);
} else {
REQUIRE(filter.getState() > prev);
prev = filter.getState();
}
}
}
SECTION("Decrease")
{
constexpr auto newTarget = InitialState / 2;
for (int i = 0; i < 20; ++i) {
now += StepSize;
filter.addSample(newTarget, now);
REQUIRE(filter.isInitialized());
CHECK(filter.getTimestampNs() == now);
if (prev == newTarget) {
REQUIRE(filter.getState() == newTarget);
} else {
REQUIRE(filter.getState() < prev);
prev = filter.getState();
}
}
}
SECTION("Stay Same")
{
for (int i = 0; i < 20; ++i) {
now += StepSize;
filter.addSample(InitialState, now);
REQUIRE(filter.isInitialized());
CHECK(filter.getTimestampNs() == now);
REQUIRE(filter.getState() == InitialState);
}
}
}