Add lowpass_filter tests

frankaemika · Aug 2, 2018 · d3e616e · d3e616e
1 parent 3bd47dc
commit d3e616e
Showing 1 changed file with 23 additions and 0 deletions.
diff --git a/test/lowpass_filter_tests.cpp b/test/lowpass_filter_tests.cpp
@@ -0,0 +1,23 @@
+// Copyright (c) 2018 Franka Emika GmbH
+// Use of this source code is governed by the Apache-2.0 license, see LICENSE
+
+#include <gtest/gtest.h>
+#include <Eigen/Dense>
+
+#include <franka/lowpass_filter.h>
+
+using namespace franka;
+
+const double kNoLimit{std::numeric_limits<double>::max()};
+
+TEST(LowpassFilter, KeepsValueIfNoChange) {
+  EXPECT_NEAR(lowpassFilter(0.001, 1.0, 1.0, 100.0), 1.0, 1e-6);
+  EXPECT_NEAR(lowpassFilter(0.001, 1.0, 1.0, 500.0), 1.0, 1e-6);
+  EXPECT_NEAR(lowpassFilter(0.001, 1.0, 1.0, 1000.0), 1.0, 1e-6);
+}
+
+TEST(LowpassFilter, DoesFilter) {
+  EXPECT_NEAR(lowpassFilter(0.001, 1.0, 0.0, 100.0), 0.3859, 1e-4);
+  EXPECT_NEAR(lowpassFilter(0.001, 1.0, 0.0, 500.0), 0.7585, 1e-4);
+  EXPECT_NEAR(lowpassFilter(0.001, 1.0, 0.0, 900.0), 0.8497, 1e-4);
+}