From 49a8f9a22a5e5ddae8b264f1b7ec596c10e144e7 Mon Sep 17 00:00:00 2001 From: Gerald LaMountain Date: Thu, 13 Jun 2019 15:41:56 -0400 Subject: [PATCH] Rename cubature_filter library to nonlinear_filtering --- src/algorithms/tracking/libs/CMakeLists.txt | 4 ++-- .../{cubature_filter.cc => nonlinear_tracking.cc} | 0 .../libs/{cubature_filter.h => nonlinear_tracking.h} | 0 .../tracking/cubature_filter_test.cc | 11 ++++++----- 4 files changed, 8 insertions(+), 7 deletions(-) rename src/algorithms/tracking/libs/{cubature_filter.cc => nonlinear_tracking.cc} (100%) rename src/algorithms/tracking/libs/{cubature_filter.h => nonlinear_tracking.h} (100%) diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt index fb816d0d8..80948c7e3 100644 --- a/src/algorithms/tracking/libs/CMakeLists.txt +++ b/src/algorithms/tracking/libs/CMakeLists.txt @@ -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 diff --git a/src/algorithms/tracking/libs/cubature_filter.cc b/src/algorithms/tracking/libs/nonlinear_tracking.cc similarity index 100% rename from src/algorithms/tracking/libs/cubature_filter.cc rename to src/algorithms/tracking/libs/nonlinear_tracking.cc diff --git a/src/algorithms/tracking/libs/cubature_filter.h b/src/algorithms/tracking/libs/nonlinear_tracking.h similarity index 100% rename from src/algorithms/tracking/libs/cubature_filter.h rename to src/algorithms/tracking/libs/nonlinear_tracking.h diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc index a86d5dd7c..7b4a77938 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc @@ -28,12 +28,13 @@ * ------------------------------------------------------------------------- */ -#include "cubature_filter.h" +#include "nonlinear_tracking.h" #include #include #include #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(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;