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Add plot of precision results

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This commit is contained in:
Carles Fernandez 2017-10-22 18:05:02 +02:00
parent 0164d6725d
commit 4d7f93fd43
2 changed files with 112 additions and 1 deletions
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36
src/tests/common-files/gnuplot_i.h
View File

@ -545,6 +545,9 @@ public:
const unsigned int iHeight,
const std::string &title = "");
/// plot circle
Gnuplot& plot_circle(double east, double north, double radius, const std::string &label = "");
//----------------------------------------------------------------------------------
///\brief replot repeats the last plot or splot command.
/// this can be useful for viewing a plot with different set options,
@ -937,7 +940,8 @@ Gnuplot::~Gnuplot()
#elif defined(unix) || defined(__unix) || defined(__unix__) || defined(__APPLE__)
if (pclose(gnucmd) == -1)
#endif
throw GnuplotException("Problem closing communication to gnuplot");
// throw GnuplotException("Problem closing communication to gnuplot");
std::cout << "Gnuplot window left open." << std::endl;
}
@ -1634,6 +1638,36 @@ Gnuplot& Gnuplot::plot_image(const unsigned char * ucPicBuf,
}
Gnuplot& Gnuplot::plot_circle(double east, double north, double radius, const std::string &label)
{
std::ostringstream cmdstr;
//
// command to be sent to gnuplot
//
cmdstr << "set object circle at " + std::to_string(east) + "," + std::to_string(north) + " size " +
std::to_string(radius) + " back\n";
if (label != "")
{
double east_label = (std::cos(M_PI / 3.0) * radius) * 1.1 + east;
double north_label = (std::sin(M_PI / 3.0) * radius) * 1.1 + north;
cmdstr << "set label \"" + label + "\" at first " + std::to_string(east_label) +
", " + std::to_string(north_label) + " norotate back nopoint offset 0,0\n";
}
if (nplots > 0)
cmdstr << "replot ";
else
cmdstr << "plot ";
//
// Do the actual plot
//
cmd(cmdstr.str());
return *this;
}
//------------------------------------------------------------------------------
//

77
src/tests/system-tests/position_test.cc
View File

@ -29,11 +29,13 @@
* -------------------------------------------------------------------------
*/
#include <algorithm>
#include <chrono>
#include <cmath>
#include <fstream>
#include <numeric>
#include <thread>
#include <boost/filesystem.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <gtest/gtest.h>
@ -43,10 +45,13 @@
#include "in_memory_configuration.h"
#include "file_configuration.h"
#include "MATH_CONSTANTS.h"
#include "gnuplot_i.h"
#include "test_flags.h"
#include "signal_generator_flags.h"
DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
DEFINE_bool(plot_position_test, false, "Plots results of FFTLengthTest with gnuplot");
// For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
@ -73,6 +78,9 @@ public:
int configure_receiver();
int run_receiver();
void check_results();
void print_results(const std::vector<double> & east,
const std::vector<double> & north,
const std::vector<double> & up);
double compute_stdev_precision(const std::vector<double> & vec);
double compute_stdev_accuracy(const std::vector<double> & vec, double ref);
@ -542,9 +550,78 @@ void StaticPositionSystemTest::check_results()
// Sanity Check
double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
ASSERT_LT(precision_SEP, 20.0);
if(FLAGS_plot_position_test == true)
{
print_results(pos_e, pos_n, pos_u);
}
}
void StaticPositionSystemTest::print_results(const std::vector<double> & east,
const std::vector<double> & north,
const std::vector<double> & up)
{
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if(gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_position_test has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
double sigma_E_2_precision = std::pow(compute_stdev_precision(east), 2.0);
double sigma_N_2_precision = std::pow(compute_stdev_precision(north), 2.0);
double sigma_U_2_precision = std::pow(compute_stdev_precision(up), 2.0);
double mean_east = std::accumulate(east.begin(), east.end(), 0.0) / east.size();
double mean_north = std::accumulate(north.begin(), north.end(), 0.0) / north.size();
auto it_max_east = std::max_element(std::begin(east), std::end(east));
auto it_min_east = std::min_element(std::begin(east), std::end(east));
auto it_max_north = std::max_element(std::begin(north), std::end(north));
auto it_min_north = std::min_element(std::begin(north), std::end(north));
auto east_range = std::max(*it_max_east, std::abs(*it_min_east));
auto north_range = std::max(*it_max_north, std::abs(*it_min_north));
double range = std::max(east_range, north_range) * 1.1;
double two_drms = 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision);
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("points");
g1.set_title("2D precision");
g1.set_xlabel("East [m]");
g1.set_ylabel("North [m]");
g1.cmd("set size ratio -1");
g1.cmd("set xrange [-" + std::to_string(range) + ":" + std::to_string(range) + "]");
g1.cmd("set yrange [-" + std::to_string(range) + ":" + std::to_string(range) + "]");
g1.plot_xy(east, north, "2D Position Fixes");
g1.set_style("lines").plot_circle(mean_east, mean_north, two_drms, "2DRMS");
g1.set_style("lines").plot_circle(mean_east, mean_north, two_drms / 2.0, "DRMS");
g1.cmd("set grid front");
g1.cmd("replot");
g1.savetops("Position_test_2D");
g1.showonscreen(); // window output
}
catch (GnuplotException ge)
{
std::cout << ge.what() << std::endl;
}
}
}
TEST_F(StaticPositionSystemTest, Position_system_test)
{
if(FLAGS_config_file_ptest.empty())