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84 lines
2.3 KiB
C++
84 lines
2.3 KiB
C++
/// @file TestTracker.cpp
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/// @brief Unit test for Tracker.cpp
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/// @author 30hours
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#include <catch2/catch_test_macros.hpp>
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#include <catch2/matchers/catch_matchers_floating_point.hpp>
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#include "data/Detection.h"
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#include "data/Track.h"
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#include "process/tracker/Tracker.h"
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#include "data/meta/Constants.h"
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#include <string>
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#include <vector>
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#include <random>
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#include <iostream>
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/// @brief Test constructor.
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/// @details Check constructor parameters created correctly.
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TEST_CASE("Constructor", "[constructor]")
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{
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uint32_t m = 3;
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uint32_t n = 5;
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uint32_t nDelete = 5;
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double cpi = 1;
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double maxAccInit = 10;
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double fs = 2000000;
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double rangeRes = (double)Constants::c/fs;
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double fc = 204640000;
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double lambda = (double)Constants::c/fc;
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Tracker tracker = Tracker(m, n, nDelete,
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cpi, maxAccInit, rangeRes, lambda);
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}
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/// @brief Test process for an ACTIVE track.
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TEST_CASE("Process ACTIVE track constant acc", "[process]")
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{
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uint32_t m = 3;
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uint32_t n = 5;
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uint32_t nDelete = 5;
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double cpi = 1;
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double maxAccInit = 10;
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double fs = 2000000;
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double rangeRes = (double)Constants::c/fs;
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double fc = 204640000;
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double lambda = (double)Constants::c/fc;
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Tracker tracker = Tracker(m, n, nDelete,
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cpi, maxAccInit, rangeRes, lambda);
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// create detections with constant acc 5 Hz/s
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std::vector<uint64_t> timestamp = {0,1,2,3,4,5,6,7,8,9,10};
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std::vector<double> delay = {10};
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std::vector<double> doppler = {-20,-15,-10,-5,0,5,10,15,20,25};
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std::string state = "ACTIVE";
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}
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/// @brief Test predict for kinematics equations.
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TEST_CASE("Test predict", "[predict]")
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{
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uint32_t m = 3;
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uint32_t n = 5;
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uint32_t nDelete = 5;
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double cpi = 1;
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double maxAccInit = 10;
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double fs = 2000000;
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double rangeRes = (double)Constants::c/fs;
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double fc = 204640000;
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double lambda = (double)Constants::c/fc;
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Tracker tracker = Tracker(m, n, nDelete,
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cpi, maxAccInit, rangeRes, lambda);
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Detection input = Detection(10, -20, 0);
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double acc = 5;
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double T = 1;
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Detection prediction = tracker.predict(input, acc, T);
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Detection prediction_truth = Detection(9.821, -15, 0);
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CHECK_THAT(prediction.get_delay().front(),
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Catch::Matchers::WithinAbs(prediction_truth.get_delay().front(), 0.01));
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CHECK_THAT(prediction.get_doppler().front(),
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Catch::Matchers::WithinAbs(prediction_truth.get_doppler().front(), 0.01));
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} |