57 lines
1.5 KiB
Go
57 lines
1.5 KiB
Go
// Copyright 2017 Google Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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//
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package pipoint
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import (
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"testing"
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"github.com/stretchr/testify/assert"
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)
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func TestLowpass(t *testing.T) {
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tau := 0.3
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l := &Lowpass{}
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// Moves towards the input in diminishing steps.
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assert.InDelta(t, l.StepEx(3, tau), 0.9, 0.1)
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assert.InDelta(t, l.StepEx(3, tau), 1.6, 0.1)
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assert.InDelta(t, l.StepEx(3, tau), 2.0, 0.1)
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assert.InDelta(t, l.StepEx(3, tau), 2.3, 0.1)
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assert.InDelta(t, l.StepEx(3, tau), 2.5, 0.1)
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}
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func TestLinPred(t *testing.T) {
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l := &LinPred{}
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// Returns initial value.
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l.SetEx(5, 1, 1)
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assert.InDelta(t, l.GetEx(1), 5, 0.001)
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// Initial value continues.
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assert.InDelta(t, l.GetEx(2), 5, 0.001)
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l.SetEx(5.5, 2, 2)
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// Initially returns the same value.
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assert.InDelta(t, l.GetEx(2), 5.5, 0.001)
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// Velocity is 0.5/s
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assert.InDelta(t, l.GetEx(2.5), 5.75, 0.001)
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assert.InDelta(t, l.GetEx(3.0), 6.0, 0.001)
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// Negative velocity also works.
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l.SetEx(4, 3, 3)
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assert.InDelta(t, l.GetEx(3), 4, 0.001)
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assert.InDelta(t, l.GetEx(4), 2.5, 0.001)
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}
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