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Rename cubature_filter library to nonlinear_filtering

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This commit is contained in:
Gerald LaMountain 2019-06-13 15:41:56 -04:00
parent 83d77fabb0
commit 49a8f9a22a
4 changed files with 8 additions and 7 deletions
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4
src/algorithms/tracking/libs/CMakeLists.txt
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@ -33,7 +33,7 @@ set(TRACKING_LIB_SOURCES
cpu_multicorrelator.cc
cpu_multicorrelator_real_codes.cc
cpu_multicorrelator_16sc.cc
cubature_filter.cc
nonlinear_tracking.cc
lock_detectors.cc
tcp_communication.cc
tcp_packet_data.cc
@ -51,7 +51,7 @@ set(TRACKING_LIB_HEADERS
cpu_multicorrelator.h
cpu_multicorrelator_real_codes.h
cpu_multicorrelator_16sc.h
cubature_filter.h
nonlinear_tracking.h
lock_detectors.h
tcp_communication.h
tcp_packet_data.h

0
src/algorithms/tracking/libs/cubature_filter.cc → src/algorithms/tracking/libs/nonlinear_tracking.cc
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0
src/algorithms/tracking/libs/cubature_filter.h → src/algorithms/tracking/libs/nonlinear_tracking.h
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11
src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
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@ -28,12 +28,13 @@
* -------------------------------------------------------------------------
*/
#include "cubature_filter.h"
#include "nonlinear_tracking.h"
#include <armadillo>
#include <gtest/gtest.h>
#include <random>
#define CUBATURE_TEST_N_TRIALS 1000
#define CUBATURE_TEST_TOLERANCE 0.01
class Transition_Model : public Model_Function {
public:
@ -123,8 +124,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
kf_x_pre = kf_F * kf_x_post;
kf_P_x_pre = kf_F * kf_P_x_post * kf_F.t() + kf_Q;
EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", 0.01));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", 0.01));
EXPECT_TRUE(arma::approx_equal(ckf_x_pre, kf_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_pre, kf_P_x_pre, "absdiff", CUBATURE_TEST_TOLERANCE));
// Update Step
kf_H = arma::randu<arma::mat>(ny,nx);
@ -147,8 +148,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
kf_x_post = kf_x_pre + kf_K * (kf_y - kf_H * kf_x_pre);
kf_P_x_post = (arma::eye(nx,nx) - kf_K * kf_H) * kf_P_x_pre;
EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", 0.01));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", 0.01));
EXPECT_TRUE(arma::approx_equal(ckf_x_post, kf_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
EXPECT_TRUE(arma::approx_equal(ckf_P_x_post, kf_P_x_post, "absdiff", CUBATURE_TEST_TOLERANCE));
delete transition_function;
delete measurement_function;