diff --git a/test/gtest_tdcp.cpp b/test/gtest_tdcp.cpp index b60f7f2bfec3a43a9c02c54cd798808f8f1c1a2d..cce86d832c7af9ffa8cf43cac30dccdc179456fb 100644 --- a/test/gtest_tdcp.cpp +++ b/test/gtest_tdcp.cpp @@ -47,7 +47,8 @@ void computeRandomVisibleSatellite(const Vector3d& receiver_latlonalt, TEST(Tdcp, Tdcp) { - TdcpBatchParams tdcp_params; + TdcpBatchParams tdcp_params; + // TODO: fill params Vector3d sat_ENU, sat_ECEF; Vector3d x_r_LLA, x_r_ECEF, x_k_LLA, x_k_ECEF, d_ECEF; @@ -105,6 +106,8 @@ TEST(Tdcp, Tdcp) // TODO: compute range and add random clock bias } + // TODO: randomly distort 1 satellite -> to be detected by RAIM + bool tdcp_ok = Tdcp(snapshot_r, snapshot_k, x_r_ECEF, @@ -116,6 +119,8 @@ TEST(Tdcp, Tdcp) tdcp_params); EXPECT_TRUE(tdcp_ok); + EXPECT_MATRIX_APPROX(d, d_gt, 1e-9); + EXPECT_LEQ(residual, 1e-9); } }