ControlAllocationPseudoInverseTest.cpp
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/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ControlAllocationTest.cpp
*
* Tests for Control Allocation Algorithms
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include <gtest/gtest.h>
#include <ControlAllocationPseudoInverse.hpp>
using namespace matrix;
TEST(ControlAllocationTest, AllZeroCase)
{
ControlAllocationPseudoInverse method;
matrix::Vector<float, 6> control_sp;
matrix::Vector<float, 6> control_allocated;
matrix::Vector<float, 6> control_allocated_expected;
matrix::Matrix<float, 6, 16> effectiveness;
matrix::Vector<float, 16> actuator_sp;
matrix::Vector<float, 16> actuator_trim;
matrix::Vector<float, 16> actuator_sp_expected;
method.setEffectivenessMatrix(effectiveness, actuator_trim, 16);
method.setControlSetpoint(control_sp);
method.allocate();
actuator_sp = method.getActuatorSetpoint();
control_allocated_expected = method.getAllocatedControl();
EXPECT_EQ(actuator_sp, actuator_sp_expected);
EXPECT_EQ(control_allocated, control_allocated_expected);
}