From 3ab2b2b7a825708d65fb377b039511ccf37e89ee Mon Sep 17 00:00:00 2001
From: Claudio Mandrioli <claudio.mandrioli@control.lth.se>
Date: Thu, 28 Feb 2019 09:07:36 +0100
Subject: [PATCH] added test cases for function GPS_aidedINS both car trace and
cycling trace
---
matlab/tests/main_runAllTests.m | 4 ++--
matlab/tests/test_GPSaidedINS_car.m | 32 +++++++++++++++++++++++++
matlab/tests/test_GPSaidedINS_cycling.m | 32 +++++++++++++++++++++++++
3 files changed, 66 insertions(+), 2 deletions(-)
create mode 100644 matlab/tests/test_GPSaidedINS_car.m
create mode 100644 matlab/tests/test_GPSaidedINS_cycling.m
diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index 44d4333..3c16658 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -6,8 +6,8 @@
test_dcm2q
test_get_settings_car
test_get_settings_cycling
-% test_gps_randomized_car
-% test_gps_randomized_cycling
+test_gps_randomized_car
+test_gps_randomized_cycling
% test_GPSaidedINS_car
% test_GPSaidedINS_cycling
% test_gravity
diff --git a/matlab/tests/test_GPSaidedINS_car.m b/matlab/tests/test_GPSaidedINS_car.m
new file mode 100644
index 0000000..aae6a5b
--- /dev/null
+++ b/matlab/tests/test_GPSaidedINS_car.m
@@ -0,0 +1,32 @@
+% test case for function GPSaidedINS_car
+
+%purpose: test that the function runs without errors and outputs the
+% correct struct
+
+%oracle: returns a non-empty struct with fields: x_h, delta_u_h, diag_P,
+% energy and error
+
+clear all %clear workspace
+close all
+cd .. %move to functions directory
+
+%initialize input data
+load('car_input_data.mat');
+settings=get_settings_car();
+settings.P_treshold=4.1;
+%execute function
+out_data=GPSaidedINS_car(in_data,settings);
+
+cd tests %go back to tests directory
+
+%verify output
+if ~(isfield(out_data, 'x_h') && ...
+ isfield(out_data, 'delta_u_h') && ...
+ isfield(out_data, 'diag_P') && ...
+ isfield(out_data, 'energy') && ...
+ isfield(out_data, 'error')...
+ )
+ error('error in function GPSaidedINS_car')
+else
+ disp('function GPSaidedINS_car ok')
+end
\ No newline at end of file
diff --git a/matlab/tests/test_GPSaidedINS_cycling.m b/matlab/tests/test_GPSaidedINS_cycling.m
new file mode 100644
index 0000000..016fc9b
--- /dev/null
+++ b/matlab/tests/test_GPSaidedINS_cycling.m
@@ -0,0 +1,32 @@
+% test case for function GPSaidedINS_cycling
+
+%purpose: test that the function runs without errors and outputs the
+% correct struct
+
+%oracle: returns a non-empty struct with fields: x_h, delta_u_h, diag_P,
+% energy and error
+
+clear all %clear workspace
+close all
+cd .. %move to functions directory
+
+%initialize input data
+load('cycling_input_data.mat');
+settings=get_settings_cycling();
+settings.P_treshold=4.1;
+%execute function
+out_data=GPSaidedINS_cycling(in_data,settings);
+
+cd tests %go back to tests directory
+
+%verify output
+if ~(isfield(out_data, 'x_h') && ...
+ isfield(out_data, 'delta_u_h') && ...
+ isfield(out_data, 'diag_P') && ...
+ isfield(out_data, 'energy') && ...
+ isfield(out_data, 'error')...
+ )
+ error('error in function GPSaidedINS_cycling')
+else
+ disp('function GPSaidedINS_cycling ok')
+end
\ No newline at end of file
--
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