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/* __ _ __ __ _ _ | ||
| |/ / /\ | | | \/ | /\ | \ | | | ||
| ' / / \ | | | \ / | / \ | \| | | ||
| < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
Kalman Filter | ||
Version 0.3.0 | ||
https://github.com/FrancoisCarouge/Kalman | ||
SPDX-License-Identifier: Unlicense | ||
This is free and unencumbered software released into the public domain. | ||
Anyone is free to copy, modify, publish, use, compile, sell, or | ||
distribute this software, either in source code form or as a compiled | ||
binary, for any purpose, commercial or non-commercial, and by any | ||
means. | ||
In jurisdictions that recognize copyright laws, the author or authors | ||
of this software dedicate any and all copyright interest in the | ||
software to the public domain. We make this dedication for the benefit | ||
of the public at large and to the detriment of our heirs and | ||
successors. We intend this dedication to be an overt act of | ||
relinquishment in perpetuity of all present and future rights to this | ||
software under copyright law. | ||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, | ||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF | ||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. | ||
IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR | ||
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, | ||
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR | ||
OTHER DEALINGS IN THE SOFTWARE. | ||
For more information, please refer to <https://unlicense.org> */ | ||
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#include "fcarouge/kalman.hpp" | ||
#include "fcarouge/linalg.hpp" | ||
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#include <cassert> | ||
#include <utility> | ||
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namespace fcarouge::test { | ||
namespace { | ||
template <auto Size> using vector = column_vector<double, Size>; | ||
template <auto Row, auto Column> using matrix = matrix<double, Row, Column>; | ||
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//! @test Verifies the multi-dimension filter is move-assignable. | ||
[[maybe_unused]] auto test{[] { | ||
using kalman = kalman<vector<5>, vector<4>, vector<3>>; | ||
const auto z3x1{zero_v<vector<3>>}; | ||
const auto i4x4{identity_v<matrix<4, 4>>}; | ||
const auto i4x5{identity_v<matrix<4, 5>>}; | ||
const auto i5x3{identity_v<matrix<5, 3>>}; | ||
const auto i5x4{identity_v<matrix<5, 4>>}; | ||
const auto i5x5{identity_v<matrix<5, 5>>}; | ||
const auto z4x1{zero_v<vector<4>>}; | ||
const auto z4x4{zero_v<matrix<4, 4>>}; | ||
const auto z5x1{zero_v<vector<5>>}; | ||
const auto z5x5{zero_v<matrix<5, 5>>}; | ||
kalman filter; | ||
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{ | ||
kalman filter_0; | ||
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filter_0.f(z5x5); | ||
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filter = std::move(filter_0); | ||
} | ||
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assert(filter.f() == z5x5); | ||
assert(filter.g() == i5x3); | ||
assert(filter.h() == i4x5); | ||
assert(filter.k() == i5x4); | ||
assert(filter.p() == i5x5); | ||
assert(filter.q() == z5x5 && "No process noise by default."); | ||
assert(filter.r() == z4x4 && "No observation noise by default."); | ||
assert(filter.s() == i4x4); | ||
assert(filter.u() == z3x1 && "No initial control."); | ||
assert(filter.x() == z5x1 && "Origin state."); | ||
assert(filter.y() == z4x1); | ||
assert(filter.z() == z4x1); | ||
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return 0; | ||
}()}; | ||
} // namespace | ||
} // namespace fcarouge::test |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,85 @@ | ||
/* __ _ __ __ _ _ | ||
| |/ / /\ | | | \/ | /\ | \ | | | ||
| ' / / \ | | | \ / | / \ | \| | | ||
| < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
Kalman Filter | ||
Version 0.3.0 | ||
https://github.com/FrancoisCarouge/Kalman | ||
SPDX-License-Identifier: Unlicense | ||
This is free and unencumbered software released into the public domain. | ||
Anyone is free to copy, modify, publish, use, compile, sell, or | ||
distribute this software, either in source code form or as a compiled | ||
binary, for any purpose, commercial or non-commercial, and by any | ||
means. | ||
In jurisdictions that recognize copyright laws, the author or authors | ||
of this software dedicate any and all copyright interest in the | ||
software to the public domain. We make this dedication for the benefit | ||
of the public at large and to the detriment of our heirs and | ||
successors. We intend this dedication to be an overt act of | ||
relinquishment in perpetuity of all present and future rights to this | ||
software under copyright law. | ||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, | ||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF | ||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. | ||
IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR | ||
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, | ||
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR | ||
OTHER DEALINGS IN THE SOFTWARE. | ||
For more information, please refer to <https://unlicense.org> */ | ||
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#include "fcarouge/kalman.hpp" | ||
#include "fcarouge/linalg.hpp" | ||
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#include <cassert> | ||
#include <utility> | ||
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namespace fcarouge::test { | ||
namespace { | ||
template <auto Size> using vector = column_vector<double, Size>; | ||
template <auto Row, auto Column> using matrix = matrix<double, Row, Column>; | ||
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//! @test Verifies the multi-dimension filter is move-constructible. | ||
[[maybe_unused]] auto test{[] { | ||
using kalman = kalman<vector<5>, vector<4>, vector<3>>; | ||
const auto z3x1{zero_v<vector<3>>}; | ||
const auto i4x4{identity_v<matrix<4, 4>>}; | ||
const auto i4x5{identity_v<matrix<4, 5>>}; | ||
const auto i5x3{identity_v<matrix<5, 3>>}; | ||
const auto i5x4{identity_v<matrix<5, 4>>}; | ||
const auto i5x5{identity_v<matrix<5, 5>>}; | ||
const auto z4x1{zero_v<vector<4>>}; | ||
const auto z4x4{zero_v<matrix<4, 4>>}; | ||
const auto z5x1{zero_v<vector<5>>}; | ||
const auto z5x5{zero_v<matrix<5, 5>>}; | ||
kalman filter_0; | ||
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filter_0.f(z5x5); | ||
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kalman filter{std::move(filter_0)}; | ||
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assert(filter.f() == z5x5); | ||
assert(filter.g() == i5x3); | ||
assert(filter.h() == i4x5); | ||
assert(filter.k() == i5x4); | ||
assert(filter.p() == i5x5); | ||
assert(filter.q() == z5x5 && "No process noise by default."); | ||
assert(filter.r() == z4x4 && "No observation noise by default."); | ||
assert(filter.s() == i4x4); | ||
assert(filter.u() == z3x1 && "No initial control."); | ||
assert(filter.x() == z5x1 && "Origin state."); | ||
assert(filter.y() == z4x1); | ||
assert(filter.z() == z4x1); | ||
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return 0; | ||
}()}; | ||
} // namespace | ||
} // namespace fcarouge::test |