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Add a unit test for bayesian_estimation.cc as part of trk_test which …

…tests that all outputs are positive over a large number of iterations
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glamountain committed Aug 14, 2018
1 parent 0fd98b0 commit 05aea34e7b8e888ad668609c4ca766ada304cbac
@@ -659,7 +659,8 @@ endif(NOT ${GTEST_DIR_LOCAL})
add_executable(trk_test ${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc )
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc )

target_link_libraries(trk_test ${Boost_LIBRARIES}
${GFlags_LIBS}
@@ -0,0 +1,80 @@
/*!
* \file bayesian_estimation_positivity_test.cc
* \brief This file implements timing tests for the Bayesian covariance estimator
* \author Gerald LaMountain, 20168. gerald(at)ece.neu.edu
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/

#include <chrono>
#include <complex>
#include <random>
#include <thread>
#include <armadillo>
#include <gtest/gtest.h>
#include <gflags/gflags.h>
#include <gnuradio/gr_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include "bayesian_estimation.h"

#define BAYESIAN_TEST_N_TRIALS 100
#define BAYESIAN_TEST_ITER 10000

TEST(BayesianEstimationPositivityTest, BayesianPositivityTest)
{
Bayesian_estimator bayes;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);

arma::vec bayes_mu = arma::zeros(1, 1);
int bayes_nu = 0;
int bayes_kappa = 0;
arma::mat bayes_Psi = arma::ones(1, 1);

arma::vec input = arma::zeros(1, 1);
arma::mat output = arma::ones(1, 1);

//--- Perform initializations ------------------------------

std::random_device r;
std::default_random_engine e1(r());
std::normal_distribution<float> normal_dist(0, 5);

for (int k = 0; k < BAYESIAN_TEST_N_TRIALS; k++)
{
bayes.init(bayes_mu, bayes_kappa, bayes_nu, bayes_Psi);


for (int n = 0; n < BAYESIAN_TEST_ITER; n++)
{
input(0) = (double)(normal_dist(e1));
bayes.update_sequential(input);

output = bayes.get_Psi_est();
ASSERT_EQ(output(0) > 0, true);
}
}
}

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