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TestDynamicMeasurementVector.cpp
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TestDynamicMeasurementVector.cpp
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#include <gtest/gtest.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "UKF/Types.h"
#include "UKF/StateVector.h"
#include "UKF/MeasurementVector.h"
#include "comparisons.h"
enum MyFields {
StaticPressure,
DynamicPressure,
Accelerometer,
Gyroscope,
Magnetometer
};
using MyMeasurementVector = UKF::DynamicMeasurementVector<
UKF::Field<StaticPressure, real_t>,
UKF::Field<DynamicPressure, real_t>,
UKF::Field<Magnetometer, UKF::FieldVector>,
UKF::Field<Accelerometer, UKF::Vector<3>>,
UKF::Field<Gyroscope, UKF::Vector<3>>
>;
TEST(DynamicMeasurementVectorTest, Instantiation) {
MyMeasurementVector test_measurement;
EXPECT_EQ(11, MyMeasurementVector::MaxRowsAtCompileTime);
EXPECT_EQ(11, test_measurement.max_size());
}
TEST(DynamicMeasurementVectorTest, Assignment) {
MyMeasurementVector test_measurement;
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
EXPECT_EQ(3, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::Vector<3>(1, 2, 3), test_measurement.get_field<Gyroscope>());
test_measurement.set_field<DynamicPressure>(4);
EXPECT_EQ(4, test_measurement.size());
EXPECT_EQ(4, test_measurement.get_field<DynamicPressure>());
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
EXPECT_EQ(7, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::Vector<3>(5, 6, 7), test_measurement.get_field<Accelerometer>());
test_measurement.set_field<StaticPressure>(8);
EXPECT_EQ(8, test_measurement.size());
EXPECT_EQ(8, test_measurement.get_field<StaticPressure>());
test_measurement.set_field<Magnetometer>(UKF::FieldVector(9, 10, 11));
EXPECT_EQ(11, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::FieldVector(9, 10, 11), test_measurement.get_field<Magnetometer>());
UKF::Vector<11> expected;
expected << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11;
EXPECT_VECTOR_EQ(expected, test_measurement);
}
TEST(DynamicMeasurementVectorTest, Reassignment) {
MyMeasurementVector test_measurement;
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
EXPECT_EQ(3, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::Vector<3>(1, 2, 3), test_measurement);
EXPECT_VECTOR_EQ(UKF::Vector<3>(1, 2, 3), test_measurement.get_field<Gyroscope>());
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(4, 5, 6));
EXPECT_EQ(3, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 5, 6), test_measurement);
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 5, 6), test_measurement.get_field<Gyroscope>());
}
TEST(DynamicMeasurementVectorTest, MultipleReassignment) {
MyMeasurementVector test_measurement;
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
test_measurement.set_field<DynamicPressure>(4);
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
test_measurement.set_field<StaticPressure>(8);
test_measurement.set_field<Magnetometer>(UKF::FieldVector(9, 10, 11));
EXPECT_EQ(11, test_measurement.size());
UKF::Vector<11> expected;
expected << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11;
EXPECT_VECTOR_EQ(expected, test_measurement);
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(4, 5, 6));
EXPECT_EQ(11, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 5, 6), test_measurement.get_field<Gyroscope>());
expected << 4, 5, 6, 4, 5, 6, 7, 8, 9, 10, 11;
EXPECT_VECTOR_EQ(expected, test_measurement);
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(7, 8, 9));
EXPECT_EQ(11, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::Vector<3>(7, 8, 9), test_measurement.get_field<Accelerometer>());
expected << 4, 5, 6, 4, 7, 8, 9, 8, 9, 10, 11;
EXPECT_VECTOR_EQ(expected, test_measurement);
test_measurement.set_field<DynamicPressure>(1);
EXPECT_EQ(11, test_measurement.size());
EXPECT_EQ(1, test_measurement.get_field<DynamicPressure>());
expected << 4, 5, 6, 1, 7, 8, 9, 8, 9, 10, 11;
EXPECT_VECTOR_EQ(expected, test_measurement);
test_measurement.set_field<StaticPressure>(3);
EXPECT_EQ(11, test_measurement.size());
EXPECT_EQ(3, test_measurement.get_field<StaticPressure>());
expected << 4, 5, 6, 1, 7, 8, 9, 3, 9, 10, 11;
EXPECT_VECTOR_EQ(expected, test_measurement);
test_measurement.set_field<Magnetometer>(UKF::FieldVector(4, 5, 6));
EXPECT_EQ(11, test_measurement.size());
EXPECT_VECTOR_EQ(UKF::FieldVector(4, 5, 6), test_measurement.get_field<Magnetometer>());
expected << 4, 5, 6, 1, 7, 8, 9, 3, 4, 5, 6;
EXPECT_VECTOR_EQ(expected, test_measurement);
}
TEST(DynamicMeasurementVectorTest, CopyConstructor) {
MyMeasurementVector test_measurement_1, test_measurement_2;
test_measurement_1.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
test_measurement_1.set_field<DynamicPressure>(4);
test_measurement_1.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
test_measurement_1.set_field<StaticPressure>(8);
test_measurement_1.set_field<Magnetometer>(UKF::FieldVector(9, 10, 11));
test_measurement_2 = test_measurement_1;
EXPECT_EQ(test_measurement_1.size(), test_measurement_2.size());
EXPECT_VECTOR_EQ(test_measurement_1, test_measurement_2);
EXPECT_VECTOR_EQ(UKF::Vector<3>(1, 2, 3), test_measurement_2.get_field<Gyroscope>());
EXPECT_EQ(4, test_measurement_2.get_field<DynamicPressure>());
EXPECT_VECTOR_EQ(UKF::Vector<3>(5, 6, 7), test_measurement_2.get_field<Accelerometer>());
EXPECT_EQ(8, test_measurement_2.get_field<StaticPressure>());
EXPECT_VECTOR_EQ(UKF::FieldVector(9, 10, 11), test_measurement_2.get_field<Magnetometer>());
}
enum MyStateVectorFields {
AngularVelocity,
Altitude,
Velocity,
Attitude
};
using MyStateVector = UKF::StateVector<
UKF::Field<Velocity, UKF::Vector<3>>,
UKF::Field<AngularVelocity, UKF::Vector<3>>,
UKF::Field<Attitude, UKF::Quaternion>,
UKF::Field<Altitude, real_t>
>;
namespace UKF {
/*
Define measurement model to be used in tests. NOTE: These are just for
testing, don't expect them to make any physical sense whatsoever.
*/
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Accelerometer>(const MyStateVector& state) {
return state.get_field<Attitude>() * UKF::Vector<3>(0, 0, -9.8);
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Gyroscope>(const MyStateVector& state) {
return state.get_field<AngularVelocity>();
}
template <> template <>
real_t MyMeasurementVector::expected_measurement
<MyStateVector, StaticPressure>(const MyStateVector& state) {
return 101.3 - 1.2*(state.get_field<Altitude>() / 100.0);
}
template <> template <>
real_t MyMeasurementVector::expected_measurement
<MyStateVector, DynamicPressure>(const MyStateVector& state) {
return 0.5 * 1.225 * state.get_field<Velocity>().squaredNorm();
}
template <> template <>
UKF::FieldVector MyMeasurementVector::expected_measurement
<MyStateVector, Magnetometer>(const MyStateVector& state) {
return state.get_field<Attitude>() * UKF::FieldVector(0.45, 0, 0);
}
/*
These versions of the predicted measurement functions have non-state inputs.
This could be used to add predicted kinematic acceleration by feeding control
inputs into a dynamics model, for example.
*/
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Accelerometer, UKF::Vector<3>>(const MyStateVector& state, const UKF::Vector<3>& input) {
return state.get_field<Attitude>() * UKF::Vector<3>(0, 0, -9.8) + input;
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Gyroscope, UKF::Vector<3>>(const MyStateVector& state, const UKF::Vector<3>& input) {
return state.get_field<AngularVelocity>();
}
template <> template <>
real_t MyMeasurementVector::expected_measurement
<MyStateVector, StaticPressure, UKF::Vector<3>>(const MyStateVector& state, const UKF::Vector<3>& input) {
return 101.3 - 1.2*(state.get_field<Altitude>() / 100.0);
}
template <> template <>
real_t MyMeasurementVector::expected_measurement
<MyStateVector, DynamicPressure, UKF::Vector<3>>(const MyStateVector& state, const UKF::Vector<3>& input) {
return 0.5 * 1.225 * state.get_field<Velocity>().squaredNorm();
}
template <> template <>
UKF::FieldVector MyMeasurementVector::expected_measurement
<MyStateVector, Magnetometer, UKF::Vector<3>>(const MyStateVector& state, const UKF::Vector<3>& input) {
return state.get_field<Attitude>() * UKF::FieldVector(0.45, 0, 0) + input;
}
}
TEST(DynamicMeasurementVectorTest, SigmaPointGeneration) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Magnetometer>(UKF::FieldVector(0, 0, 0));
test_measurement.set_field<StaticPressure>(0);
test_measurement.set_field<DynamicPressure>(0);
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> target_sigma_points(
test_measurement.size(), MyStateVector::num_sigma());
target_sigma_points << 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0,
0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0,
-9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8,
1, 1, 1, 1, 4.606, 1, 1, 1, 1, 1, 1, 1, 1, 1, -2.606, 1, 1, 1, 1, 1, 1,
0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0,
0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, -0.238, -0.238, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, -0.238, -0.238, 0.45,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.382, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.382, 0,
0, 0, 0, 0, 0, 0, 0, 0, -0.382, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.382, 0, 0,
89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.257, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.343,
8.575, 20.954, 25.371, 29.788, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 12.121, 7.704, 3.287, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575;
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points;
measurement_sigma_points = test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
EXPECT_VECTOR_EQ(target_sigma_points.col(0), measurement_sigma_points.col(0));
EXPECT_VECTOR_EQ(target_sigma_points.col(1), measurement_sigma_points.col(1));
EXPECT_VECTOR_EQ(target_sigma_points.col(2), measurement_sigma_points.col(2));
EXPECT_VECTOR_EQ(target_sigma_points.col(3), measurement_sigma_points.col(3));
EXPECT_VECTOR_EQ(target_sigma_points.col(4), measurement_sigma_points.col(4));
EXPECT_VECTOR_EQ(target_sigma_points.col(5), measurement_sigma_points.col(5));
EXPECT_VECTOR_EQ(target_sigma_points.col(6), measurement_sigma_points.col(6));
EXPECT_VECTOR_EQ(target_sigma_points.col(7), measurement_sigma_points.col(7));
EXPECT_VECTOR_EQ(target_sigma_points.col(8), measurement_sigma_points.col(8));
EXPECT_VECTOR_EQ(target_sigma_points.col(9), measurement_sigma_points.col(9));
EXPECT_VECTOR_EQ(target_sigma_points.col(10), measurement_sigma_points.col(10));
EXPECT_VECTOR_EQ(target_sigma_points.col(11), measurement_sigma_points.col(11));
EXPECT_VECTOR_EQ(target_sigma_points.col(12), measurement_sigma_points.col(12));
EXPECT_VECTOR_EQ(target_sigma_points.col(13), measurement_sigma_points.col(13));
EXPECT_VECTOR_EQ(target_sigma_points.col(14), measurement_sigma_points.col(14));
EXPECT_VECTOR_EQ(target_sigma_points.col(15), measurement_sigma_points.col(15));
EXPECT_VECTOR_EQ(target_sigma_points.col(16), measurement_sigma_points.col(16));
EXPECT_VECTOR_EQ(target_sigma_points.col(17), measurement_sigma_points.col(17));
EXPECT_VECTOR_EQ(target_sigma_points.col(18), measurement_sigma_points.col(18));
EXPECT_VECTOR_EQ(target_sigma_points.col(19), measurement_sigma_points.col(19));
EXPECT_VECTOR_EQ(target_sigma_points.col(20), measurement_sigma_points.col(20));
}
TEST(DynamicMeasurementVectorTest, SigmaPointGenerationWithInput) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Magnetometer>(UKF::FieldVector(0, 0, 0));
test_measurement.set_field<StaticPressure>(0);
test_measurement.set_field<DynamicPressure>(0);
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> target_sigma_points(
test_measurement.size(), MyStateVector::num_sigma());
target_sigma_points << 1, 1, 1, 1, 1, 1, 1, 1, -7.313, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9.313, 1, 1,
2, 2, 2, 2, 2, 2, 2, 10.313, 2, 2, 2, 2, 2, 2, 2, 2, 2, -6.313, 2, 2, 2,
-6.8, -6.8, -6.8, -6.8, -6.8, -6.8, -6.8, 8.188, 8.188, -6.8, -6.8, -6.8, -6.8, -6.8, -6.8, -6.8, -6.8, 8.188, 8.188, -6.8, -6.8,
1, 1, 1, 1, 4.606, 1, 1, 1, 1, 1, 1, 1, 1, 1, -2.606, 1, 1, 1, 1, 1, 1,
0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0,
1.45, 1.45, 1.45, 1.45, 1.45, 1.45, 1.45, 1.45, 0.762, 0.762, 1.45, 1.45, 1.45, 1.45, 1.45, 1.45, 1.45, 1.45, 0.762, 0.762, 1.45,
2, 2, 2, 2, 2, 2, 2, 2, 2, 2.382, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1.618, 2,
3, 3, 3, 3, 3, 3, 3, 3, 2.618, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3.382, 3, 3,
89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.257, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.343,
8.575, 20.954, 25.371, 29.788, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 12.121, 7.704, 3.287, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575;
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points;
measurement_sigma_points = test_measurement.calculate_sigma_point_distribution<MyStateVector>(
sigma_points, UKF::Vector<3>(1, 2, 3));
EXPECT_VECTOR_EQ(target_sigma_points.col(0), measurement_sigma_points.col(0));
EXPECT_VECTOR_EQ(target_sigma_points.col(1), measurement_sigma_points.col(1));
EXPECT_VECTOR_EQ(target_sigma_points.col(2), measurement_sigma_points.col(2));
EXPECT_VECTOR_EQ(target_sigma_points.col(3), measurement_sigma_points.col(3));
EXPECT_VECTOR_EQ(target_sigma_points.col(4), measurement_sigma_points.col(4));
EXPECT_VECTOR_EQ(target_sigma_points.col(5), measurement_sigma_points.col(5));
EXPECT_VECTOR_EQ(target_sigma_points.col(6), measurement_sigma_points.col(6));
EXPECT_VECTOR_EQ(target_sigma_points.col(7), measurement_sigma_points.col(7));
EXPECT_VECTOR_EQ(target_sigma_points.col(8), measurement_sigma_points.col(8));
EXPECT_VECTOR_EQ(target_sigma_points.col(9), measurement_sigma_points.col(9));
EXPECT_VECTOR_EQ(target_sigma_points.col(10), measurement_sigma_points.col(10));
EXPECT_VECTOR_EQ(target_sigma_points.col(11), measurement_sigma_points.col(11));
EXPECT_VECTOR_EQ(target_sigma_points.col(12), measurement_sigma_points.col(12));
EXPECT_VECTOR_EQ(target_sigma_points.col(13), measurement_sigma_points.col(13));
EXPECT_VECTOR_EQ(target_sigma_points.col(14), measurement_sigma_points.col(14));
EXPECT_VECTOR_EQ(target_sigma_points.col(15), measurement_sigma_points.col(15));
EXPECT_VECTOR_EQ(target_sigma_points.col(16), measurement_sigma_points.col(16));
EXPECT_VECTOR_EQ(target_sigma_points.col(17), measurement_sigma_points.col(17));
EXPECT_VECTOR_EQ(target_sigma_points.col(18), measurement_sigma_points.col(18));
EXPECT_VECTOR_EQ(target_sigma_points.col(19), measurement_sigma_points.col(19));
EXPECT_VECTOR_EQ(target_sigma_points.col(20), measurement_sigma_points.col(20));
}
TEST(DynamicMeasurementVectorTest, PartialSigmaPointGeneration) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> target_sigma_points(
test_measurement.size(), MyStateVector::num_sigma());
target_sigma_points << 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0,
0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0,
-9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8;
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points;
measurement_sigma_points = test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
EXPECT_VECTOR_EQ(target_sigma_points.col(0), measurement_sigma_points.col(0));
EXPECT_VECTOR_EQ(target_sigma_points.col(1), measurement_sigma_points.col(1));
EXPECT_VECTOR_EQ(target_sigma_points.col(2), measurement_sigma_points.col(2));
EXPECT_VECTOR_EQ(target_sigma_points.col(3), measurement_sigma_points.col(3));
EXPECT_VECTOR_EQ(target_sigma_points.col(4), measurement_sigma_points.col(4));
EXPECT_VECTOR_EQ(target_sigma_points.col(5), measurement_sigma_points.col(5));
EXPECT_VECTOR_EQ(target_sigma_points.col(6), measurement_sigma_points.col(6));
EXPECT_VECTOR_EQ(target_sigma_points.col(7), measurement_sigma_points.col(7));
EXPECT_VECTOR_EQ(target_sigma_points.col(8), measurement_sigma_points.col(8));
EXPECT_VECTOR_EQ(target_sigma_points.col(9), measurement_sigma_points.col(9));
EXPECT_VECTOR_EQ(target_sigma_points.col(10), measurement_sigma_points.col(10));
EXPECT_VECTOR_EQ(target_sigma_points.col(11), measurement_sigma_points.col(11));
EXPECT_VECTOR_EQ(target_sigma_points.col(12), measurement_sigma_points.col(12));
EXPECT_VECTOR_EQ(target_sigma_points.col(13), measurement_sigma_points.col(13));
EXPECT_VECTOR_EQ(target_sigma_points.col(14), measurement_sigma_points.col(14));
EXPECT_VECTOR_EQ(target_sigma_points.col(15), measurement_sigma_points.col(15));
EXPECT_VECTOR_EQ(target_sigma_points.col(16), measurement_sigma_points.col(16));
EXPECT_VECTOR_EQ(target_sigma_points.col(17), measurement_sigma_points.col(17));
EXPECT_VECTOR_EQ(target_sigma_points.col(18), measurement_sigma_points.col(18));
EXPECT_VECTOR_EQ(target_sigma_points.col(19), measurement_sigma_points.col(19));
EXPECT_VECTOR_EQ(target_sigma_points.col(20), measurement_sigma_points.col(20));
}
TEST(DynamicMeasurementVectorTest, SigmaPointMean) {
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points(
MyMeasurementVector::max_size(), MyStateVector::num_sigma());
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Magnetometer>(UKF::FieldVector(0, 0, 0));
test_measurement.set_field<StaticPressure>(0);
test_measurement.set_field<DynamicPressure>(0);
measurement_sigma_points << 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0,
0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0,
-9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8,
1, 1, 1, 1, 4.606, 1, 1, 1, 1, 1, 1, 1, 1, 1, -2.606, 1, 1, 1, 1, 1, 1,
0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0,
0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, -0.238, -0.238, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, 0.45, -0.238, -0.238, 0.45,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.382, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.382, 0,
0, 0, 0, 0, 0, 0, 0, 0, -0.382, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.382, 0, 0,
89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.257, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.3, 89.343,
8.575, 20.954, 25.371, 29.788, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 12.121, 7.704, 3.287, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575, 8.575;
MyMeasurementVector expected_mean;
expected_mean.set_field<Accelerometer>(UKF::Vector<3>(0.0, 0.0, -7.494));
expected_mean.set_field<Gyroscope>(UKF::Vector<3>(1.0, 0.0, 0.0));
expected_mean.set_field<Magnetometer>(UKF::FieldVector(0.45, 0, 0));
expected_mean.set_field<StaticPressure>(89.3);
expected_mean.set_field<DynamicPressure>(10.4125);
EXPECT_VECTOR_EQ(expected_mean, test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points));
}
TEST(DynamicMeasurementVectorTest, PartialSigmaPointMean) {
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points(
3, MyStateVector::num_sigma());
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
measurement_sigma_points << 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0,
0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0,
-9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, -9.8, 5.188, 5.188, -9.8, -9.8;
MyMeasurementVector expected_mean;
expected_mean.set_field<Accelerometer>(UKF::Vector<3>(0.0, 0.0, -7.494));
EXPECT_VECTOR_EQ(expected_mean, test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points));
}
TEST(DynamicMeasurementVectorTest, SigmaPointDeltas) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Magnetometer>(UKF::FieldVector(1, 0, 0));
test_measurement.set_field<StaticPressure>(0);
test_measurement.set_field<DynamicPressure>(0);
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points =
test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
MyMeasurementVector mean_measurement = test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points);
MyMeasurementVector::SigmaPointDeltas<MyStateVector> sigma_point_deltas(mean_measurement.size(), MyStateVector::num_sigma());
MyMeasurementVector::SigmaPointDeltas<MyStateVector> target_sigma_point_deltas(mean_measurement.size(), MyStateVector::num_sigma());
target_sigma_point_deltas << 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0,
0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0,
-2.306, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, 12.682, 12.682, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, 12.682, 12.682, -2.306, -2.306,
0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 3.606, 0, 0, 0, 0, 0, 0, 0, 0, 0, -3.606, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.043, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.043,
-1.8375, 10.542, 14.959, 19.376, -1.8375, -1.8375, -1.8375, -1.8375, -1.8375, -1.8375, -1.8375, 1.7082, -2.7086, -7.126, -1.8375, -1.8375, -1.8375, -1.8375, -1.8375, -1.8375, -1.8375;
sigma_point_deltas = mean_measurement.calculate_sigma_point_deltas<MyStateVector>(measurement_sigma_points);
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(0), sigma_point_deltas.col(0));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(1), sigma_point_deltas.col(1));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(2), sigma_point_deltas.col(2));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(3), sigma_point_deltas.col(3));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(4), sigma_point_deltas.col(4));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(5), sigma_point_deltas.col(5));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(6), sigma_point_deltas.col(6));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(7), sigma_point_deltas.col(7));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(8), sigma_point_deltas.col(8));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(9), sigma_point_deltas.col(9));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(10), sigma_point_deltas.col(10));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(11), sigma_point_deltas.col(11));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(12), sigma_point_deltas.col(12));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(13), sigma_point_deltas.col(13));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(14), sigma_point_deltas.col(14));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(15), sigma_point_deltas.col(15));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(16), sigma_point_deltas.col(16));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(17), sigma_point_deltas.col(17));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(18), sigma_point_deltas.col(18));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(19), sigma_point_deltas.col(19));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(20), sigma_point_deltas.col(20));
}
TEST(DynamicMeasurementVectorTest, PartialSigmaPointDeltas) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points =
test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
MyMeasurementVector mean_measurement = test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points);
MyMeasurementVector::SigmaPointDeltas<MyStateVector> sigma_point_deltas(3, MyStateVector::num_sigma());
MyMeasurementVector::SigmaPointDeltas<MyStateVector> target_sigma_point_deltas(3, MyStateVector::num_sigma());
target_sigma_point_deltas << 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0,
0, 0, 0, 0, 0, 0, 0, 8.314, 0, 0, 0, 0, 0, 0, 0, 0, 0, -8.314, 0, 0, 0,
-2.306, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, 12.682, 12.682, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, -2.306, 12.682, 12.682, -2.306, -2.306;
sigma_point_deltas = mean_measurement.calculate_sigma_point_deltas<MyStateVector>(measurement_sigma_points);
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(0), sigma_point_deltas.col(0));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(1), sigma_point_deltas.col(1));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(2), sigma_point_deltas.col(2));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(3), sigma_point_deltas.col(3));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(4), sigma_point_deltas.col(4));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(5), sigma_point_deltas.col(5));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(6), sigma_point_deltas.col(6));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(7), sigma_point_deltas.col(7));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(8), sigma_point_deltas.col(8));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(9), sigma_point_deltas.col(9));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(10), sigma_point_deltas.col(10));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(11), sigma_point_deltas.col(11));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(12), sigma_point_deltas.col(12));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(13), sigma_point_deltas.col(13));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(14), sigma_point_deltas.col(14));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(15), sigma_point_deltas.col(15));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(16), sigma_point_deltas.col(16));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(17), sigma_point_deltas.col(17));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(18), sigma_point_deltas.col(18));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(19), sigma_point_deltas.col(19));
EXPECT_VECTOR_EQ(target_sigma_point_deltas.col(20), sigma_point_deltas.col(20));
}
TEST(DynamicMeasurementVectorTest, Innovation) {
MyStateVector test_state;
MyMeasurementVector test_measurement, target_innovation;
test_state.set_field<Velocity>(UKF::Vector<3>(10, 0, 0));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(0, 0, 1));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(1, 0, 0));
test_measurement.set_field<DynamicPressure>(0.5 * 122.5);
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 9.8));
test_measurement.set_field<StaticPressure>(101.3);
test_measurement.set_field<Magnetometer>(UKF::FieldVector(0, 0.45, 0));
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1e-9, 1e-9, 1e-9, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points =
test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
MyMeasurementVector mean_measurement = test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points);
target_innovation.set_field<Gyroscope>(UKF::Vector<3>(1, 0, -1));
target_innovation.set_field<DynamicPressure>(0);
target_innovation.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 17.294));
target_innovation.set_field<StaticPressure>(12.0);
target_innovation.set_field<Magnetometer>(UKF::FieldVector(0, 0, 2));
EXPECT_VECTOR_EQ(target_innovation, mean_measurement.calculate_innovation(test_measurement));
}
TEST(DynamicMeasurementVectorTest, PartialInnovation) {
MyStateVector test_state;
MyMeasurementVector test_measurement, target_innovation;
test_state.set_field<Velocity>(UKF::Vector<3>(10, 0, 0));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(0, 0, 1));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 9.8));
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1e-9, 1e-9, 1e-9, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points =
test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
MyMeasurementVector mean_measurement = test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points);
target_innovation.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 17.294));
EXPECT_VECTOR_EQ(target_innovation, mean_measurement.calculate_innovation(test_measurement));
}
TEST(DynamicMeasurementVectorTest, SigmaPointCovariance) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<Magnetometer>(UKF::FieldVector(1, 0, 0));
test_measurement.set_field<StaticPressure>(0);
test_measurement.set_field<DynamicPressure>(0);
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points =
test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
MyMeasurementVector mean_measurement = test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points);
MyMeasurementVector::SigmaPointDeltas<MyStateVector> sigma_point_deltas =
mean_measurement.calculate_sigma_point_deltas<MyStateVector>(measurement_sigma_points);
MyMeasurementVector::CovarianceMatrix calculated_covariance =
mean_measurement.calculate_sigma_point_covariance<MyStateVector>(sigma_point_deltas);
MyMeasurementVector::CovarianceMatrix expected_covariance(mean_measurement.size(), mean_measurement.size());
expected_covariance << 5.31709, 0, 0, 0, 0, 0, 0, -2.3059, 0, 0, 0,
0, 5.31709, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 29.2440, 0, 0, 0, 0, 0, 0, 0, -4.237,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-2.3059, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1.44e-4, 0,
0, 0, -4.237, 0, 0, 0, 0, 0, 0, 0, 32.263;
EXPECT_VECTOR_EQ(expected_covariance.col(0), calculated_covariance.col(0));
EXPECT_VECTOR_EQ(expected_covariance.col(1), calculated_covariance.col(1));
EXPECT_VECTOR_EQ(expected_covariance.col(2), calculated_covariance.col(2));
EXPECT_VECTOR_EQ(expected_covariance.col(3), calculated_covariance.col(3));
EXPECT_VECTOR_EQ(expected_covariance.col(4), calculated_covariance.col(4));
EXPECT_VECTOR_EQ(expected_covariance.col(5), calculated_covariance.col(5));
EXPECT_VECTOR_EQ(expected_covariance.col(6), calculated_covariance.col(6));
EXPECT_VECTOR_EQ(expected_covariance.col(7), calculated_covariance.col(7));
EXPECT_VECTOR_EQ(expected_covariance.col(8), calculated_covariance.col(8));
EXPECT_VECTOR_EQ(expected_covariance.col(9), calculated_covariance.col(9));
EXPECT_VECTOR_EQ(expected_covariance.col(10), calculated_covariance.col(10));
}
TEST(DynamicMeasurementVectorTest, PartialSigmaPointCovariance) {
MyStateVector test_state;
MyMeasurementVector test_measurement;
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_state.set_field<Velocity>(UKF::Vector<3>(1, 2, 3));
test_state.set_field<AngularVelocity>(UKF::Vector<3>(1, 0, 0));
test_state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_state.set_field<Altitude>(1000);
MyStateVector::CovarianceMatrix covariance = MyStateVector::CovarianceMatrix::Zero();
covariance.diagonal() << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
MyStateVector::SigmaPointDistribution sigma_points = test_state.calculate_sigma_point_distribution((covariance *
(MyStateVector::covariance_size() + UKF::Parameters::Lambda<MyStateVector>)).llt().matrixL());
MyMeasurementVector::SigmaPointDistribution<MyStateVector> measurement_sigma_points =
test_measurement.calculate_sigma_point_distribution<MyStateVector>(sigma_points);
MyMeasurementVector mean_measurement = test_measurement.calculate_sigma_point_mean<MyStateVector>(measurement_sigma_points);
MyMeasurementVector::SigmaPointDeltas<MyStateVector> sigma_point_deltas =
mean_measurement.calculate_sigma_point_deltas<MyStateVector>(measurement_sigma_points);
MyMeasurementVector::CovarianceMatrix calculated_covariance =
mean_measurement.calculate_sigma_point_covariance<MyStateVector>(sigma_point_deltas);
MyMeasurementVector::CovarianceMatrix expected_covariance(mean_measurement.size(), mean_measurement.size());
expected_covariance << 5.31709, 0, 0,
0, 5.31709, 0,
0, 0, 29.2440;
EXPECT_VECTOR_EQ(expected_covariance.col(0), calculated_covariance.col(0));
EXPECT_VECTOR_EQ(expected_covariance.col(1), calculated_covariance.col(1));
EXPECT_VECTOR_EQ(expected_covariance.col(2), calculated_covariance.col(2));
}
TEST(DynamicMeasurementVectorTest, MeasurementCovariance) {
MyMeasurementVector test_measurement, expected_measurement;
MyMeasurementVector::CovarianceVector measurement_covariance;
measurement_covariance.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
measurement_covariance.set_field<DynamicPressure>(4);
measurement_covariance.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
measurement_covariance.set_field<StaticPressure>(8);
measurement_covariance.set_field<Magnetometer>(UKF::FieldVector(1, 2, 3));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<DynamicPressure>(0);
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -9.8));
test_measurement.set_field<StaticPressure>(101.3);
test_measurement.set_field<Magnetometer>(UKF::FieldVector(-1, 0, 1));
expected_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
expected_measurement.set_field<DynamicPressure>(0);
expected_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -9.8));
expected_measurement.set_field<StaticPressure>(101.3);
expected_measurement.set_field<Magnetometer>(UKF::FieldVector(1, 1, 0));
MyMeasurementVector::CovarianceMatrix expected_measurement_covariance = MyMeasurementVector::CovarianceMatrix::Zero(11, 11);
expected_measurement_covariance.diagonal() << 1, 2, 3, 4, 5, 6, 7, 8, 0, 0, 0;
expected_measurement_covariance.block<3, 3>(8, 8) << 8, -8, 0,
-8, 8, 0,
0, 0, 16;
MyMeasurementVector::CovarianceMatrix out_measurement_covariance =
test_measurement.calculate_measurement_covariance(measurement_covariance, expected_measurement);
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(0), out_measurement_covariance.col(0));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(1), out_measurement_covariance.col(1));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(2), out_measurement_covariance.col(2));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(3), out_measurement_covariance.col(3));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(4), out_measurement_covariance.col(4));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(5), out_measurement_covariance.col(5));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(6), out_measurement_covariance.col(6));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(7), out_measurement_covariance.col(7));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(8), out_measurement_covariance.col(8));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(9), out_measurement_covariance.col(9));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(10), out_measurement_covariance.col(10));
}
TEST(DynamicMeasurementVectorTest, PartialMeasurementCovariance) {
MyMeasurementVector test_measurement, expected_measurement;
MyMeasurementVector::CovarianceVector measurement_covariance;
measurement_covariance.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
measurement_covariance.set_field<DynamicPressure>(4);
measurement_covariance.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
measurement_covariance.set_field<StaticPressure>(8);
measurement_covariance.set_field<Magnetometer>(UKF::FieldVector(1, 2, 3));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
expected_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
MyMeasurementVector::CovarianceMatrix expected_measurement_covariance = MyMeasurementVector::CovarianceMatrix::Zero(3, 3);
expected_measurement_covariance.diagonal() << 1, 2, 3;
MyMeasurementVector::CovarianceMatrix out_measurement_covariance =
test_measurement.calculate_measurement_covariance(measurement_covariance, expected_measurement);
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(0), out_measurement_covariance.col(0));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(1), out_measurement_covariance.col(1));
EXPECT_VECTOR_EQ(expected_measurement_covariance.col(2), out_measurement_covariance.col(2));
}
TEST(DynamicMeasurementVectorTest, MeasurementRootCovariance) {
MyMeasurementVector test_measurement, expected_measurement;
MyMeasurementVector::CovarianceVector measurement_root_covariance;
measurement_root_covariance.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
measurement_root_covariance.set_field<DynamicPressure>(4);
measurement_root_covariance.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
measurement_root_covariance.set_field<StaticPressure>(8);
measurement_root_covariance.set_field<Magnetometer>(UKF::FieldVector(1, 2, 3));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<DynamicPressure>(0);
test_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, 0));
test_measurement.set_field<StaticPressure>(0);
test_measurement.set_field<Magnetometer>(UKF::FieldVector(-1, 0, 1));
expected_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
expected_measurement.set_field<DynamicPressure>(0);
expected_measurement.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -9.8));
expected_measurement.set_field<StaticPressure>(101.3);
expected_measurement.set_field<Magnetometer>(UKF::FieldVector(1, 1, 0));
MyMeasurementVector::CovarianceMatrix expected_measurement_root_covariance = MyMeasurementVector::CovarianceMatrix::Zero(11, 11);
expected_measurement_root_covariance.diagonal() << 1, 2, 3, 4, 5, 6, 7, 8, 0, 0, 0;
expected_measurement_root_covariance.block<3, 3>(8, 8) << 0, -4, 0,
0, 4, 0,
-2, 0, -6;
MyMeasurementVector::CovarianceMatrix out_measurement_root_covariance =
test_measurement.calculate_measurement_root_covariance(measurement_root_covariance, expected_measurement);
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(0), out_measurement_root_covariance.col(0));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(1), out_measurement_root_covariance.col(1));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(2), out_measurement_root_covariance.col(2));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(3), out_measurement_root_covariance.col(3));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(4), out_measurement_root_covariance.col(4));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(5), out_measurement_root_covariance.col(5));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(6), out_measurement_root_covariance.col(6));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(7), out_measurement_root_covariance.col(7));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(8), out_measurement_root_covariance.col(8));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(9), out_measurement_root_covariance.col(9));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(10), out_measurement_root_covariance.col(10));
}
TEST(DynamicMeasurementVectorTest, PartialMeasurementRootCovariance) {
MyMeasurementVector test_measurement, expected_measurement;
MyMeasurementVector::CovarianceVector measurement_root_covariance;
measurement_root_covariance.set_field<Gyroscope>(UKF::Vector<3>(1, 2, 3));
measurement_root_covariance.set_field<DynamicPressure>(4);
measurement_root_covariance.set_field<Accelerometer>(UKF::Vector<3>(5, 6, 7));
measurement_root_covariance.set_field<StaticPressure>(8);
measurement_root_covariance.set_field<Magnetometer>(UKF::FieldVector(1, 2, 3));
test_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
expected_measurement.set_field<Gyroscope>(UKF::Vector<3>(0, 0, 0));
MyMeasurementVector::CovarianceMatrix expected_measurement_root_covariance = MyMeasurementVector::CovarianceMatrix::Zero(3, 3);
expected_measurement_root_covariance.diagonal() << 1, 2, 3;
MyMeasurementVector::CovarianceMatrix out_measurement_root_covariance =
test_measurement.calculate_measurement_root_covariance(measurement_root_covariance, expected_measurement);
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(0), out_measurement_root_covariance.col(0));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(1), out_measurement_root_covariance.col(1));
EXPECT_VECTOR_EQ(expected_measurement_root_covariance.col(2), out_measurement_root_covariance.col(2));
}
TEST(DynamicMeasurementVectorTest, CalculateRotationVector) {
UKF::Vector<3> test;
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(0, 0, 0), UKF::Vector<3>(0, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(0, 0, 0), UKF::Vector<3>(1, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(1, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(-1, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, -2/std::numeric_limits<real_t>::epsilon()), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 1, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, -2), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, -1, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 2), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 0, 1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 2, 0), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 0, -1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, -2, 0), test);
/* Some random vectors, for the a = 0, f = 2 case. */
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(
UKF::Vector<3>(5.0746, -2.3911, 1.3564), UKF::Vector<3>(8.3439, -4.2832, 5.1440));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0.1070, 0.2438, 0.0294), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(
UKF::Vector<3>(5.5833, 8.6802, -7.4019), UKF::Vector<3>(-8.4829, -8.9210, 0.6160));
EXPECT_VECTOR_EQ(UKF::Vector<3>(4.4643, -4.3661, -1.7527), test);
test = UKF::Detail::calculate_rotation_vector<MyMeasurementVector>(
UKF::Vector<3>(2.0396, -4.7406, 3.0816), UKF::Vector<3>(-3.7757, 0.5707, -6.6870));
EXPECT_VECTOR_EQ(UKF::Vector<3>(-3.9209, -0.2624, 2.1914), test);
}
TEST(DynamicMeasurementVectorTest, CalculateRotationVectorJacobian) {
UKF::Matrix<3, 3> test;
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(0, 0, 0), UKF::Vector<3>(0, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(0, 0, 0), UKF::Vector<3>(1, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 4/(std::numeric_limits<real_t>::epsilon()*std::numeric_limits<real_t>::epsilon()), 0).transpose(),
(test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 4/(std::numeric_limits<real_t>::epsilon()*std::numeric_limits<real_t>::epsilon())).transpose(),
(test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(1, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 1, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 1).transpose(), (test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(-1, 0, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 4/(std::numeric_limits<real_t>::epsilon()*std::numeric_limits<real_t>::epsilon()), 0).transpose(),
(test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 4/(std::numeric_limits<real_t>::epsilon()*std::numeric_limits<real_t>::epsilon())).transpose(),
(test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 1, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 4).transpose(), (test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, -1, 0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 4).transpose(), (test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 0, 1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 4, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(UKF::Vector<3>(1, 0, 0), UKF::Vector<3>(0, 0, -1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(4, 0, 0).transpose(), (test*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 4, 0).transpose(), (test*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(0, 0, 0).transpose(), (test*test.transpose()).row(2));
/* Some random vectors, for the a = 0, f = 2 case. */
Eigen::DiagonalMatrix<real_t, 3> c(UKF::Vector<3>(1, 2, 3));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(
UKF::Vector<3>(5.0746, -2.3911, 1.3564), UKF::Vector<3>(8.3439, -4.2832, 5.1440));
EXPECT_VECTOR_EQ(UKF::Vector<3>( 0.030105, 0.032038, -0.022155).transpose(), (test*c*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>( 0.032038, 0.073227, 0.009005).transpose(), (test*c*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(-0.022155, 0.009005, 0.043436).transpose(), (test*c*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(
UKF::Vector<3>(5.5833, 8.6802, -7.4019), UKF::Vector<3>(-8.4829, -8.9210, 0.6160));
EXPECT_VECTOR_EQ(UKF::Vector<3>( 0.790494, -0.776049, -0.353005).transpose(), (test*c*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(-0.776049, 0.768788, 0.446778).transpose(), (test*c*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(-0.353005, 0.446778, 1.609094).transpose(), (test*c*test.transpose()).row(2));
test = UKF::Detail::calculate_rotation_vector_jacobian<MyMeasurementVector>(
UKF::Vector<3>(2.0396, -4.7406, 3.0816), UKF::Vector<3>(-3.7757, 0.5707, -6.6870));
EXPECT_VECTOR_EQ(UKF::Vector<3>( 1.850606, -0.474603, -1.085418).transpose(), (test*c*test.transpose()).row(0));
EXPECT_VECTOR_EQ(UKF::Vector<3>(-0.474603, 1.420474, 0.389206).transpose(), (test*c*test.transpose()).row(1));
EXPECT_VECTOR_EQ(UKF::Vector<3>(-1.085418, 0.389206, 0.646079).transpose(), (test*c*test.transpose()).row(2));
}