Add reset() and configure() tests

nobleo · Mar 7, 2022 · b27ab71 · b27ab71
1 parent 0c2c8ef
commit b27ab71
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Showing 2 changed files with 40 additions and 0 deletions.
diff --git a/test/unittests/test_derivative.cpp b/test/unittests/test_derivative.cpp
@@ -21,3 +21,14 @@ TEST(Derivative, StepResponse)
     EXPECT_NEAR(result, expected_response[i], eps);
   }
 }
+
+TEST(Derivative, Reset)
+{
+  double dt = 0.1;
+
+  Derivative filter;
+
+  EXPECT_NEAR(filter.filter(1, dt), 10, eps);
+  filter.reset();
+  EXPECT_NEAR(filter.filter(0, dt), 0, eps);
+}
diff --git a/test/unittests/test_integral.cpp b/test/unittests/test_integral.cpp
@@ -22,3 +22,32 @@ TEST(Integral, StepResponse)
     EXPECT_NEAR(result, expected_response[i], eps);
   }
 }
+
+TEST(Integral, Reset)
+{
+  double dt = 0.1;
+  double windup_limit = 0.5;
+
+  Integral filter{windup_limit};
+
+  EXPECT_NEAR(filter.filter(1, dt), 0.05, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.15, eps);
+  filter.reset();
+  EXPECT_NEAR(filter.filter(1, dt), 0.05, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.15, eps);
+}
+
+TEST(Integral, Configure)
+{
+  double dt = 0.1;
+  double windup_limit = 0.2;
+
+  Integral filter{windup_limit};
+
+  EXPECT_NEAR(filter.filter(1, dt), 0.05, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.15, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.20, eps);
+  filter.configure(0.35);
+  EXPECT_NEAR(filter.filter(1, dt), 0.30, eps);
+  EXPECT_NEAR(filter.filter(1, dt), 0.35, eps);
+}