From 7338f7b35d093c5a7ae32010866a90039d03c367 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 17 Mar 2021 19:47:59 +0100
Subject: [PATCH] wip test
---
test/gtest_tdcp.cpp | 22 ++++++++++++----------
1 file changed, 12 insertions(+), 10 deletions(-)
diff --git a/test/gtest_tdcp.cpp b/test/gtest_tdcp.cpp
index cce86d8..0b160f3 100644
--- a/test/gtest_tdcp.cpp
+++ b/test/gtest_tdcp.cpp
@@ -1,4 +1,6 @@
#include "gtest/utils_gtest.h"
+#include "gnss_utils/tdcp.h"
+#include "gnss_utils/snapshot.h"
#include "gnss_utils/utils/satellite.h"
#include "gnss_utils/utils/transformations.h"
@@ -19,7 +21,7 @@ Vector3d computeRandomReceiverLatLonAlt()
void computeRandomVisibleSatellite(const Vector3d& receiver_latlonalt,
Vector3d& sat_ENU,
Vector3d& sat_ECEF,
- Vectox_kd& sat_azel,
+ Vector2d& sat_azel,
double range)
{
Vector3d t_ECEF_ENU, t_ENU_ECEF;
@@ -30,7 +32,7 @@ void computeRandomVisibleSatellite(const Vector3d& receiver_latlonalt,
computeEnuEcefFromLatLonAlt(receiver_latlonalt, R_ENU_ECEF, t_ENU_ECEF);
// random elevation and azimuth
- sat_azel = Vectox_kd::Random(); // in [-1, 1]
+ sat_azel = Vector2d::Random(); // in [-1, 1]
sat_azel(0) *= M_PI; // in [-pi, pi]
sat_azel(1) = (sat_azel(1)/2 + 0.5) * M_PI / 2; // in [0, pi/2]
range = VectorXd::Random(1)(0) * 5e2 + 1e3; // in [500, 1500]
@@ -53,7 +55,7 @@ TEST(Tdcp, Tdcp)
Vector3d sat_ENU, sat_ECEF;
Vector3d x_r_LLA, x_r_ECEF, x_k_LLA, x_k_ECEF, d_ECEF;
Matrix3d R_ENU_ECEF;
- Vectox_kd azel, azel2;
+ Vector2d azel, azel2;
Vector4d d, d_gt;
Matrix4d cov_d;
double residual;
@@ -87,21 +89,21 @@ TEST(Tdcp, Tdcp)
{
common_sats.insert(j);
- // Satellite 1 (random)
+ // Satellite r (random)
computeRandomVisibleSatellite(x_r_LLA, sat_ENU, sat_ECEF, azel, range);
EXPECT_MATRIX_APPROX(azel, computeAzel(sat_ECEF, x_r_ECEF), 1e-6);
- Satellite sat1({0,j,sat_ECEF, Vector3d::Zero(), 1.0, 0, 0, 1});
- snapshot1.getSatellites().emplace(j, sat1);
+ Satellite sat_r({0,j,sat_ECEF, Vector3d::Zero(), 1.0, 0, 0, 1});
+ snapshot_r->getSatellites().emplace(j, sat_r);
// TODO: compute range and add random clock bias
- // Satellite 2 (random)
+ // Satellite k (random)
computeRandomVisibleSatellite(x_k_LLA, sat_ENU, sat_ECEF, azel, range);
EXPECT_MATRIX_APPROX(azel, computeAzel(sat_ECEF, x_k_ECEF), 1e-6);
- Satellite sat2({0,j,sat_ECEF, Vector3d::Zero(), 1.0, 0, 0, 1});
- snapshot2.getSatellites().emplace(j, sat2);
+ Satellite sat_k({0,j,sat_ECEF, Vector3d::Zero(), 1.0, 0, 0, 1});
+ snapshot_k->getSatellites().emplace(j, sat_k);
// TODO: compute range and add random clock bias
}
@@ -120,7 +122,7 @@ TEST(Tdcp, Tdcp)
EXPECT_TRUE(tdcp_ok);
EXPECT_MATRIX_APPROX(d, d_gt, 1e-9);
- EXPECT_LEQ(residual, 1e-9);
+ EXPECT_LE(residual, 1e-9);
}
}
--
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