FHWS/Indoor
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ref #39 #40 moved all stuff left in KLib into Indoor. We are now able to perform localization without the need of KLib. Only K::Gnuplot is needed for drawing, but this will be separated into an own project in the future

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This commit is contained in:
toni
2017-11-15 17:43:32 +01:00
parent 72932ad90f
commit c8063bc862
35 changed files with 340 additions and 100 deletions
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26
tests/math/TestDistribution.cpp
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@@ -69,7 +69,33 @@ TEST(Distribution, VonMises) {
}
TEST(Distribution, normalCDF1) {
Distribution::NormalCDF<double> nd(0,1);
ASSERT_NEAR(0.5, nd.getProbability(0), 0.00001);
ASSERT_NEAR(0.5, Distribution::NormalCDF<double>::getProbability(0, 1, 0), 0.00001);
ASSERT_NEAR(1.0, nd.getProbability(5), 0.00001);
ASSERT_NEAR(1.0, Distribution::NormalCDF<double>::getProbability(0, 1, 5), 0.00001);
ASSERT_NEAR(0.0, nd.getProbability(-5), 0.00001);
ASSERT_NEAR(0.0, Distribution::NormalCDF<double>::getProbability(0, 1, -5), 0.00001);
}
TEST(Distribution, normalCDF2) {
Distribution::NormalCDF<double> nd(3,1);
ASSERT_NEAR(0.5, nd.getProbability(3), 0.00001);
ASSERT_NEAR(0.5, Distribution::NormalCDF<double>::getProbability(3, 1, 3), 0.00001);
ASSERT_NEAR(1.0, nd.getProbability(3+5), 0.00001);
ASSERT_NEAR(1.0, Distribution::NormalCDF<double>::getProbability(3, 1, 3+5), 0.00001);
ASSERT_NEAR(0.0, nd.getProbability(3-5), 0.00001);
ASSERT_NEAR(0.0, Distribution::NormalCDF<double>::getProbability(3, 1, 3-5), 0.00001);
}
//#include <fstream>

2
tests/math/filter/TestButter.cpp
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@@ -5,7 +5,7 @@
#include "../../../misc/Time.h"
#include "../../../math/Interpolator.h"
#include"../../../sensors/pressure/ActivityButterPressure.h"
#include"../../../sensors/activity/ActivityButterPressure.h"
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>

5
tests/sensors/imu/TestMotionDetection.cpp
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@@ -97,7 +97,8 @@ TEST(MotionDetection, motionAxis) {
TEST(MotionDetection, motionAngle) {
MotionDetection md;
TurnDetection td;
PoseDetection pd;
TurnDetection td(&pd);
//plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";
@@ -147,7 +148,7 @@ TEST(MotionDetection, motionAngle) {
} else if (e.type == Offline::Sensor::ACC) {
const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
td.addAccelerometer(ts, _acc.data);
pd.addAccelerometer(ts, _acc.data);
} else if (e.type == Offline::Sensor::GYRO) {
const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];

40
tests/sensors/imu/TestTurnDetection.cpp
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@@ -6,33 +6,34 @@
TEST(TurnDetection, rotationMatrix) {
Eigen::Vector3f dst; dst << 0, 0, 1;
Eigen::Vector3f src; src << 1, 1, 0; src.normalize();
Vector3 dst(0, 0, 1);
Vector3 src(1, 1, 0);
src = src.normalized();
// get a matrix that rotates "src" into "dst"
Eigen::Matrix3f rot = TurnDetection::getRotationMatrix(src, dst);
Matrix3 rot = PoseDetection::getRotationMatrix(src, dst);
Eigen::Vector3f res = rot * src;
Vector3 res = rot * src;
ASSERT_NEAR(dst(0), res(0), 0.01);
ASSERT_NEAR(dst(1), res(1), 0.01);
ASSERT_NEAR(dst(2), res(2), 0.01);
ASSERT_NEAR(dst.x, res.x, 0.01);
ASSERT_NEAR(dst.y, res.y, 0.01);
ASSERT_NEAR(dst.z, res.z, 0.01);
}
TEST(TurnDetection, gyroRotate) {
Eigen::Vector3f zAxis; zAxis << 0, 0, 1;
Eigen::Vector3f acc; acc << 0, 7.0, 7.0;
Vector3 zAxis(0, 0, 1);
Vector3 acc(0, 7.0, 7.0);
Eigen::Matrix3f rot = TurnDetection::getRotationMatrix(acc, zAxis);
Matrix3 rot = PoseDetection::getRotationMatrix(acc, zAxis);
Eigen::Vector3f gyro; gyro << 0, 60, 60;
Vector3 gyro(0, 60, 60);
Eigen::Vector3f gyro2; gyro2 << 0, 0, 84;
Vector3 gyro2(0, 0, 84);
Eigen::Vector3f gyro3 = rot * gyro;
Vector3 gyro3 = rot * gyro;
ASSERT_NEAR(0, (gyro2-gyro3).norm(), 1.0);
@@ -41,10 +42,11 @@ TEST(TurnDetection, gyroRotate) {
TEST(TurnDetection, xx) {
Eigen::Vector3f dst; dst << 0, 0, 1;
Eigen::Vector3f src; src << 0.0, 2.9, -10.0; src.normalize(); // sample accelerometer readings
Vector3 dst(0, 0, 1);
Vector3 src(0.0, 2.9, -10.0);
src = src.normalized(); // sample accelerometer readings
Eigen::Matrix3f rot = TurnDetection::getRotationMatrix(src, dst);
Matrix3 rot = PoseDetection::getRotationMatrix(src, dst);
// Eigen::Vector3f x; x << 1, 0, 0;
// Eigen::Vector3f z = src.normalized();
@@ -55,14 +57,14 @@ TEST(TurnDetection, xx) {
// rot.row(1) = y;
// rot.row(2) = z;
Eigen::Vector3f res = rot * src;
Vector3 res = rot * src;
// ASSERT_NEAR(dst(0), res(0), 0.01);
// ASSERT_NEAR(dst(1), res(1), 0.01);
// ASSERT_NEAR(dst(2), res(2), 0.01);
Eigen::Vector3f gyro; gyro << 0, 10, 30;
Vector3 gyro(0, 10, 30);
Eigen::Vector3f gyro2 = rot * gyro;
Vector3 gyro2 = rot * gyro;
int i = 0; (void) i;
}

9
tests/sensors/pressure/TestBarometer.cpp
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@@ -4,8 +4,8 @@
#include "../../../sensors/pressure/RelativePressure.h"
#include "../../../sensors/pressure/PressureTendence.h"
#include "../../../sensors/pressure/ActivityButterPressure.h"
#include "../../../sensors/pressure/ActivityButterPressurePercent.h"
#include "../../../sensors/activity/ActivityButterPressure.h"
#include "../../../sensors/activity/ActivityButterPressurePercent.h"
#include <random>
@@ -141,9 +141,10 @@ TEST(Barometer, Activity) {
double value;
while (iss >> ts >> value) {
ActivityButterPressure::Activity currentAct = act.add(Timestamp::fromMS(ts), BarometerData(value));
act.add(Timestamp::fromMS(ts), BarometerData(value));
Activity currentAct = act.get();
rawHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(value)));
actHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData(currentAct)));
actHist.push_back(ActivityButterPressure::History(Timestamp::fromMS(ts), BarometerData((int)currentAct)));
}
}