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30 lines
638 B
30 lines
638 B
2 months ago
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from openpilot.common.simple_kalman import KF1D
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class TestSimpleKalman:
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def setup_method(self):
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dt = 0.01
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x0_0 = 0.0
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x1_0 = 0.0
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A0_0 = 1.0
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A0_1 = dt
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A1_0 = 0.0
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A1_1 = 1.0
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C0_0 = 1.0
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C0_1 = 0.0
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K0_0 = 0.12287673
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K1_0 = 0.29666309
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self.kf = KF1D(x0=[[x0_0], [x1_0]],
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A=[[A0_0, A0_1], [A1_0, A1_1]],
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C=[C0_0, C0_1],
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K=[[K0_0], [K1_0]])
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def test_getter_setter(self):
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self.kf.set_x([[1.0], [1.0]])
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assert self.kf.x == [[1.0], [1.0]]
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def update_returns_state(self):
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x = self.kf.update(100)
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assert x == self.kf.x
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