src/test/unit/pwl_unittest.cc

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include <stdint.h>
  23 #include <stdbool.h>
  24
  25 #include <limits.h>
  26
  27 #include <math.h>
  28
  29 extern "C" {
  30     #include "common/pwl.h"
  31 }
  32
  33 #include "unittest_macros.h"
  34 #include "gtest/gtest.h"
  35
  36 float xSquared(float x, void *args)
  37 {
  38     UNUSED(args);
  39     return x * x;
  40 }
  41
  42 PWL_DECLARE(pwlXSquared, 21, 0.0f, 10.0f);
  43
  44 TEST(PwlUnittest, TestXSquared21)
  45 {
  46     pwlFill(&pwlXSquared, xSquared, NULL);
  47
  48     EXPECT_EQ(pwlInterpolate(&pwlXSquared, -1.0f), 0.0f); // outside of X bounds on the left
  49     EXPECT_EQ(pwlInterpolate(&pwlXSquared, 11.0f), 100.0f); // outside of X bounds on the right
  50     EXPECT_EQ(pwlInterpolate(&pwlXSquared, 0.0f), 0.0f);
  51     EXPECT_EQ(pwlInterpolate(&pwlXSquared, 1.0f), 1.0f);
  52     EXPECT_EQ(pwlInterpolate(&pwlXSquared, 2.0f), 4.0f);
  53     EXPECT_EQ(pwlInterpolate(&pwlXSquared, 9.0f), 81.0f);
  54     EXPECT_EQ(pwlInterpolate(&pwlXSquared, 10.0f), 100.0f);
  55
  56     float x = 0.0f;
  57     while (x <= 10.0f) {
  58         EXPECT_NEAR(pwlInterpolate(&pwlXSquared, x), xSquared(x, NULL), 0.1f);
  59         x += 0.1;
  60     }
  61 }
  62
  63
  64 PWL_DECLARE(pwlXSquaredTwoPoints, 2, 1.0f, 5.0f);
  65
  66 TEST(PwlUnittest, TestXSquared2)
  67 {
  68     pwlFill(&pwlXSquaredTwoPoints, xSquared, NULL);
  69
  70     EXPECT_EQ(pwlInterpolate(&pwlXSquaredTwoPoints, -1.0f), 1.0f); // outside of X bounds on the left
  71     EXPECT_EQ(pwlInterpolate(&pwlXSquaredTwoPoints, 11.0f), 25.0f); // outside of X bounds on the right
  72     EXPECT_EQ(pwlInterpolate(&pwlXSquaredTwoPoints, 1.0f), 1.0f);
  73     EXPECT_EQ(pwlInterpolate(&pwlXSquaredTwoPoints, 5.0f), 25.0f);
  74
  75     EXPECT_EQ(pwlInterpolate(&pwlXSquaredTwoPoints, 3.5f), 16.0f);
  76 }
  77
  78
  79 typedef struct additionalArgs_s {
  80     float a;
  81 } additionalArgs_t;
  82
  83 float xSquaredArgs(float x, void *args)
  84 {
  85     additionalArgs_t *addArgs = (additionalArgs_t*)args;
  86     return x * x * addArgs->a;
  87 }
  88
  89 PWL_DECLARE(pwlXSquaredArgs, 21, 0.0f, 10.0f);
  90
  91 TEST(PwlUnittest, TestXSquaredArgs)
  92 {
  93     additionalArgs_t args { .a = 2.0 };
  94     pwlFill(&pwlXSquaredArgs, xSquaredArgs, &args);
  95
  96     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, -1.0f), args.a * 0.0f); // outside of X bounds on the left
  97     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, 11.0f), args.a * 100.0f); // outside of X bounds on the right
  98     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, 0.0f), args.a * 0.0f);
  99     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, 1.0f), args.a * 1.0f);
 100     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, 2.0f), args.a * 4.0f);
 101     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, 9.0f), args.a * 81.0f);
 102     EXPECT_EQ(pwlInterpolate(&pwlXSquaredArgs, 10.0f), args.a * 100.0f);
 103
 104     float x = 0.0f;
 105     while (x <= 10.0f) {
 106         EXPECT_NEAR(pwlInterpolate(&pwlXSquaredArgs, x), xSquaredArgs(x, &args), args.a * 0.1f);
 107         x += 0.1;
 108     }
 109 }