From b0503906bd34a8807b42d36bf2ef24192e779f91 Mon Sep 17 00:00:00 2001
From: Claudio Mandrioli <claudio.mandrioli@control.lth.se>
Date: Wed, 27 Feb 2019 19:44:27 +0100
Subject: [PATCH] added test case for function gps_randomized_car
---
matlab/tests/main_runAllTests.m | 4 ++--
matlab/tests/test_dcm2q.m | 6 +++--
matlab/tests/test_gps_randomized_car.m | 32 ++++++++++++++++++++++++++
3 files changed, 38 insertions(+), 4 deletions(-)
create mode 100644 matlab/tests/test_gps_randomized_car.m
diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index c5e7161..44d4333 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -4,8 +4,8 @@
% every time a new test-case is define simply add it here
test_dcm2q
-% test_get_settings_car
-% test_get_settings_cycling
+test_get_settings_car
+test_get_settings_cycling
% test_gps_randomized_car
% test_gps_randomized_cycling
% test_GPSaidedINS_car
diff --git a/matlab/tests/test_dcm2q.m b/matlab/tests/test_dcm2q.m
index a48088c..2017d1d 100644
--- a/matlab/tests/test_dcm2q.m
+++ b/matlab/tests/test_dcm2q.m
@@ -5,15 +5,17 @@
%oracle: easy to chekc from the formulae
-clear all
+clear all %clear workspace
close all
-cd ..
+cd .. %move to functions directory
+%execute function
R=zeros(4,4);
q=dcm2q(R);
cd tests
+%verify output
if q~=[0;0;0;0.5]
error('error in function dcm_2q')
else
diff --git a/matlab/tests/test_gps_randomized_car.m b/matlab/tests/test_gps_randomized_car.m
new file mode 100644
index 0000000..1daa01d
--- /dev/null
+++ b/matlab/tests/test_gps_randomized_car.m
@@ -0,0 +1,32 @@
+% test case for function gps_randomized_car
+
+%purpose: verify that the transition turn_on is taken from initial state
+
+%oracle:
+
+clear all %clear workspace
+close all
+cd .. %move to functions directory
+
+%initialize input data
+sensor.state='no_info';
+sensor.fetchfp=1.0;
+sensor.geteph=Inf;
+sensor.ephExp=1800.0;
+sensor.fp=0;
+sensor.eph=5;
+turn=true;
+time=0;
+sv=5;
+%execute function
+sensor=gps_randomized_car(time,sensor,turn,sv);
+
+
+cd tests %go back to tests directory
+
+%verify output
+if ~(strcmp(sensor.state,'cold_start'))
+ error('error in function gps_randomized_car')
+else
+ disp('function gps_randomized_car ok')
+end
\ No newline at end of file
--
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