Skip to content

unit test scripts #46

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
SAT-oO wants to merge 4 commits into
base: main
Choose a base branch
from
Draft

unit test scripts #46

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
cfcdf59
unit test scripts
SAT-oO Jul 1, 2025
ea27676
new scripts for encoder ekf
SAT-oO Jul 5, 2025
f1b9ea6
ekf unit tests all passed
SAT-oO Jul 5, 2025
a006899
pad filter script
SAT-oO Jul 5, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
59 changes: 59 additions & 0 deletions design/unit-test/ekf_encoder_unit_test_script.m
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,59 @@
% inputs: x, P, R, encoder
x = [
2.426878243614206; 4.001402344444001; 0.709431693136077; 2.108806413131375; 4.578677625945335; 3.961036647797772; 4.797462131964515; 3.278703495782934; 0.178558392870948; 4.245646529343886; 4.669966238787753; 3.393675774288867; 3.788700652891667


];

P_diag_arr = [2.95219117313746;
0.50150522974397;
0.31864903478599;
1.11722922016661;
0.59435520762892;
1.46906291404807;
1.01848024017227;
2.85489139433318;
2.76099611950969;
0.15803099304238;
2.21357428655099;
0.80735827919567;
1.26850684502642];

P = diag(P_diag_arr);



R = 0.01;
encoder = 0.431651170248720;

% action
[xhat, Phat] = ekf_correct(@model_meas_encoder, @model_meas_encoder_jacobian, x, P, encoder, 0, R);

% print
% STATE
fprintf('// Predicted State (x_expected)\n');
fprintf('double x_expected[SIZE_STATE] = {\n');
for i = 1:SIZE_STATE
if i < SIZE_STATE
fprintf(' %.15g,\n', xhat(i));
else
fprintf(' %.15g\n', xhat(i));
end
end
fprintf('};\n\n');

% COVARIANCE MATRIX FLATTENED
fprintf('// Predicted Covariance (P_expected)\n');
fprintf('double P_expected[SIZE_STATE * SIZE_STATE] = {\n');
for i = 1:SIZE_STATE
for j = 1:SIZE_STATE
idx = (i - 1) * SIZE_STATE + j;
if idx < SIZE_STATE^2
fprintf(' %.15g,', Phat(i, j));
else
fprintf(' %.15g\n', Phat(i, j));
end
end
end

fprintf('};\n');
168 changes: 168 additions & 0 deletions design/unit-test/ekf_unit_test_script.m
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,168 @@

% === SIZE DEFINITIONS ===
SIZE_STATE = 13;

% === STATE VECTOR ===
x = [
2.426878243614206; 4.001402344444001; 0.709431693136077; 2.108806413131375; 4.578677625945335; 3.961036647797772; 4.797462131964515; 3.278703495782934; 0.178558392870948; 4.245646529343886; 4.669966238787753; 3.393675774288867; 3.788700652891667


];

% === ZERO INITIAL COVARIANCE ===
P_diag_arr = [2.95219117313746;
0.50150522974397;
0.31864903478599;
1.11722922016661;
0.59435520762892;
1.46906291404807;
1.01848024017227;
2.85489139433318;
2.76099611950969;
0.15803099304238;
2.21357428655099;
0.80735827919567;
1.26850684502642];

P = diag(P_diag_arr);

% === INPUT STRUCT ===
u.accel = [1.456126946168524; 2.400841406666400; 0.425659015881646];
u.cmd = 0.547870901214845;

% encoder
encoder = 0.431651170248720;

% === TIME STEP ===
dt = 1.038711463665142;

% === PROCESS R_MTI ===
R = diag([1e-6, 1e-6, 1e-6, 2e-3, 2e-3, 2e-3, 2e1]);

% imu select
global IMU_select;
IMU_select = [1 1];

% IMU array
IMU_1 = [2.711216972515416;
4.238310136658316;
2.074393441904026;
7.598779134258502;
1.752878606103443;
2.033296028751589;
1.536372424330727;
2.048978680348982;
3.921288156935092;
2.799920579853715
];

IMU_2 = [7.387037136825951;
3.441659130636672;
1.478530560993089;
7.239047749439143;
7.837987026848682;
3.510959785008826;
0.888953787524790;
2.064517567296535;
3.269758768900417;
4.759168592068915

];

% bias array
b.bias_1 = [0.942736984276934;
0.417744104316662;
0.983052466469856;
0.301454948712065;
0.701098755900926;
0.666338851584426;
0.539126465042857;
0.698105520180308;
0.666527913402587;
0.178132454400338

];

b.bias_2 = [0.128014399720173;
0.999080394761361;
0.171121066356432;
0.032600820530528;
0.561199792709660;
0.881866500451810;
0.669175304534394;
0.190433267179954;
0.368916546063895;
0.460725937260412

];


disp("IMU_1 select")
% === CALL CORRECTION ===
[x, P] = ekf_algorithm(x, P, b, 0, dt, IMU_1, IMU_2, u.cmd, encoder, 0);

% === PRINT C-STYLE OUTPUTS ===

% STATE
fprintf('// Predicted State (x_expected)\n');
fprintf('double x_expected[SIZE_STATE] = {\n');
for i = 1:SIZE_STATE
if i < SIZE_STATE
fprintf(' %.15g,\n', x(i));
else
fprintf(' %.15g\n', x(i));
end
end
fprintf('};\n\n');

% COVARIANCE MATRIX FLATTENED
fprintf('// Predicted Covariance (P_expected)\n');
fprintf('double P_expected[SIZE_STATE * SIZE_STATE] = {\n');
for i = 1:SIZE_STATE
for j = 1:SIZE_STATE
idx = (i - 1) * SIZE_STATE + j;
if idx < SIZE_STATE^2
fprintf(' %.15g,', P(i, j));
else
fprintf(' %.15g\n', P(i, j));
end
end
end

fprintf('};\n');


% disp("IMU_2 select")
% % imu_2 corr
% x_new = xhat;
% P_new = Phat;
%
% [xhat, Phat] = ekf_correct(@model_meas_imu, @model_meas_imu_jacobian, x_new, P_new, IMU_2(4:end), b.bias_2, R);
%
% % STATE
% fprintf('// Predicted State (x_expected)\n');
% fprintf('double x_expected[SIZE_STATE] = {\n');
% for i = 1:SIZE_STATE
% if i < SIZE_STATE
% fprintf(' %.15g,\n', xhat(i));
% else
% fprintf(' %.15g\n', xhat(i));
% end
% end
% fprintf('};\n\n');
%
% % COVARIANCE MATRIX FLATTENED
% fprintf('// Predicted Covariance (P_expected)\n');
% fprintf('double P_expected[SIZE_STATE * SIZE_STATE] = {\n');
% for i = 1:SIZE_STATE
% for j = 1:SIZE_STATE
% idx = (i - 1) * SIZE_STATE + j;
% if idx < SIZE_STATE^2
% fprintf(' %.15g,', Phat(i, j));
% else
% fprintf(' %.15g\n', Phat(i, j));
% end
% end
% end
%
% fprintf('};\n');
35 changes: 35 additions & 0 deletions design/unit-test/model_dynamic_unit_test_script.m
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,35 @@

% === SIZE DEFINITIONS ===
SIZE_STATE = 13;

% === STATE VECTOR ===
x = [1:13]'
size(x)

% === INPUT STRUCT ===
u.accel = [5;77;9];
u.cmd = 8;

% === TIME STEP ===
dt = 0.32;



% === CALL PREDICTION ===
[x_out] = model_dynamics(dt, x, u);

% === PRINT C-STYLE OUTPUTS ===

% STATE
fprintf('// est state (x_expected)\n');
fprintf('double x_expected[13] = {\n');
for i = 1:SIZE_STATE
if i < SIZE_STATE
fprintf(' %.15g,\n', x_out(i));
else
fprintf(' %.15g\n', x_out(i));
end
end
fprintf('};\n\n');


44 changes: 44 additions & 0 deletions design/unit-test/pad_filter_unit_test_script.m
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
%% NewContextOneIteration

% inputs

IMU_1 = [0.01; 0.02; -9.81; 0.001; -0.002; 0.0005; 0.3; 0.0; 0.4; 1013.25];
IMU_2 = [-0.02; 0.01; -9.78; 0.0005; 0.001; -0.001; 0.31; -0.01; 0.39; 1013.30];

% action

[x_init, bias_1, bias_2] = pad_filter(IMU_1, IMU_2);

% print outputs

SIZE_STATE = 13;
SIZE_IMU_ALL = 10;

fprintf('double x_expected[SIZE_STATE] = {\n');
for i = 1:SIZE_STATE
if i < SIZE_STATE
fprintf(' %.15g,\n', x_init(i));
else
fprintf(' %.15g\n', x_init(i));
end
end
fprintf('};\n\n');

fprintf('double x_expected[SIZE_IMU_ALL] = {\n');
for i = 1:SIZE_IMU_ALL
if i < SIZE_IMU_ALL
fprintf(' %.15g,\n', bias_1(i));
else
fprintf(' %.15g\n', bias_1(i));
end
end
fprintf('};\n\n');
fprintf('double x_expected[SIZE_IMU_ALL] = {\n');
for i = 1:SIZE_IMU_ALL
if i < SIZE_IMU_ALL
fprintf(' %.15g,\n', bias_2(i));
else
fprintf(' %.15g\n', bias_2(i));
end
end
fprintf('};\n\n');