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OP-1474 Extract line and curve functions out to mathmisc.h, nan check and unit tests

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This commit is contained in:
Stefan Karlsson 2014-09-10 00:34:06 +02:00
parent c0152b7e19
commit 0e2af9c654
6 changed files with 194 additions and 33 deletions
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2
Makefile
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@ -638,7 +638,7 @@ uavo-collections_clean:
#
##############################
ALL_UNITTESTS := logfs
ALL_UNITTESTS := logfs math
# Build the directory for the unit tests
UT_OUT_DIR := $(BUILD_DIR)/unit_tests

40
flight/libraries/math/mathmisc.h
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@ -31,6 +31,8 @@
#ifndef MATHMISC_H
#define MATHMISC_H
#include <math.h>
// returns min(boundary1,boundary2) if val<min(boundary1,boundary2)
// returns max(boundary1,boundary2) if val>max(boundary1,boundary2)
// returns val if min(boundary1,boundary2)<=val<=max(boundary1,boundary2)
@ -79,4 +81,42 @@ static inline void vector_normalizef(float *vector, const uint8_t dim)
}
}
typedef struct pointf {
float x;
float y;
} pointf;
// Returns the y value, given x, on the line passing through the points p0 and p1.
static inline float y_on_line(float x, pointf *p0, pointf *p1)
{
// Setup line y = m * x + b.
const float dY1 = p1->y - p0->y;
const float dX1 = p1->x - p0->x;
const float m = dY1 / dX1; // == dY0 / dX0 == (p0.y - b) / (p0.x - 0.0f) ==>
const float b = p0->y - m * p0->x;
// Get the y value on the line.
return m * x + b;
}
// Returns the y value, given x, on the curve defined by the points array.
// The fist and last line of the curve extends beyond the first resp. last points.
static inline float y_on_curve(float x, pointf points[], int num_points)
{
// Find the two points x is within.
// If x is smaller than the first point's x value, use the first line of the curve.
// If x is larger than the last point's x value, user the last line of the curve.
int end_point = num_points - 1;
for (int i = 1; i < num_points; i++) {
if (x < points[i].x) {
end_point = i;
break;
}
}
// Find the y value on the selected line.
return y_on_line(x, &points[end_point - 1], &points[end_point]);
}
#endif /* MATHMISC_H */

29
flight/libraries/math/pid.c
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@ -141,36 +141,11 @@ void pid_configure(struct pid *pid, float p, float i, float d, float iLim)
pid->iLim = iLim;
}
float pid_scale_factor_from_line(float x, struct point *p0, struct point *p1)
{
// Setup line y = m * x + b.
const float dY1 = p1->y - p0->y;
const float dX1 = p1->x - p0->x;
const float m = dY1 / dX1; // == dY0 / dX0 == (p0.y - b) / (p0.x - 0.0f) ==>
const float b = p0->y - m * p0->x;
// Scale according to given x.
float y = m * x + b;
return 1.0f + y;
}
float pid_scale_factor(pid_scaler *scaler)
{
const int length = sizeof(scaler->points) / sizeof(typeof(scaler->points[0]));
float y = y_on_curve(scaler->x, scaler->points, sizeof(scaler->points) / sizeof(scaler->points[0]));
// Find the two points where is within scaler->x. Use the outer points if
// scaler->x is smaller than the first x value or larger than the last x value.
int end_point = length - 1;
for (int i = 1; i < length; i++) {
if (scaler->x < scaler->points[i].x) {
end_point = i;
break;
}
}
return pid_scale_factor_from_line(scaler->x, &scaler->points[end_point - 1], &scaler->points[end_point]);
return 1.0f + (IS_REAL(y) ? y : 0.0f);
}
float pid_apply_setpoint_scaled(struct pid *pid, const float factor, const float setpoint, const float measured, float dT,

9
flight/libraries/math/pid.h
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@ -31,6 +31,8 @@
#ifndef PID_H
#define PID_H
#include "mathmisc.h"
// !
struct pid {
float p;
@ -43,11 +45,8 @@ struct pid {
};
typedef struct pid_scaler {
float x;
struct point {
float x;
float y;
} points[5];
float x;
pointf points[5];
} pid_scaler;
// ! Methods to use the pid structures

37
flight/tests/math/Makefile Normal file
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@ -0,0 +1,37 @@
###############################################################################
# @file Makefile
# @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
# Copyright (c) 2013, The OpenPilot Team, http://www.openpilot.org
# @addtogroup
# @{
# @addtogroup
# @{
# @brief Makefile for unit test
###############################################################################
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
ifndef OPENPILOT_IS_COOL
$(error Top level Makefile must be used to build this target)
endif
include $(ROOT_DIR)/make/firmware-defs.mk
EXTRAINCDIRS += $(TOPDIR)
EXTRAINCDIRS += $(ROOT_DIR)/flight/libraries/math
EXTRAINCDIRS += $(PIOS)/inc
include $(ROOT_DIR)/make/unittest.mk

110
flight/tests/math/unittest.cpp Normal file
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@ -0,0 +1,110 @@
#include "gtest/gtest.h"
#include <stdio.h> /* printf */
#include <stdlib.h> /* abort */
#include <string.h> /* memset */
extern "C" {
#include "mathmisc.h"
}
#define epsilon 0.00001f
// From pios_math.h
#define IS_REAL(f) (!isnan(f) && !isinf(f))
#define length(points_array) (sizeof(points_array) / sizeof(points_array[0]))
// To use a test fixture, derive a class from testing::Test.
class MathTestRaw : public testing::Test {};
TEST_F(MathTestRaw, y_on_line0) {
pointf points[] = {
{ 0.0f, -0.30f },
{ 0.5f, 0.30 }
};
EXPECT_NEAR(-0.60f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.30f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.00f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.60f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
}
TEST_F(MathTestRaw, y_on_line1) {
pointf points[] = {
{ 0.25f, -0.30f },
{ 0.50f, 0.30 }
};
EXPECT_NEAR(-1.50f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.90f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.30f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.90f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
}
TEST_F(MathTestRaw, y_on_line2) {
pointf points[] = {
{ -0.25f, -0.30f },
{ 0.50f, 0.30 }
};
EXPECT_NEAR(-0.30f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(-0.10f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.10f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
EXPECT_NEAR(0.50f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
}
TEST_F(MathTestRaw, y_on_line3) {
pointf points[] = {
{ 0.25f, -0.30f },
{ 0.25f, 0.30 }
};
EXPECT_FALSE(IS_REAL(y_on_line(-0.25f, &points[0], &points[1])));
}
TEST_F(MathTestRaw, y_on_curve0) {
pointf points[] = {
{ 0.00f, -0.40f },
{ 0.25f, -0.20f },
{ 0.50f, 0.00f },
{ 0.75f, 0.20 },
{ 1.00f, 0.40 }
};
EXPECT_NEAR(-0.50f, y_on_curve(-0.125f, points, length(points)), epsilon);
EXPECT_NEAR(-0.40f, y_on_curve(0.000f, points, length(points)), epsilon);
EXPECT_NEAR(-0.30f, y_on_curve(0.125f, points, length(points)), epsilon);
EXPECT_NEAR(-0.20f, y_on_curve(0.250f, points, length(points)), epsilon);
EXPECT_NEAR(-0.10f, y_on_curve(0.375f, points, length(points)), epsilon);
EXPECT_NEAR(0.00f, y_on_curve(0.500f, points, length(points)), epsilon);
EXPECT_NEAR(0.10f, y_on_curve(0.625f, points, length(points)), epsilon);
EXPECT_NEAR(0.20f, y_on_curve(0.750f, points, length(points)), epsilon);
EXPECT_NEAR(0.30f, y_on_curve(0.875f, points, length(points)), epsilon);
EXPECT_NEAR(0.40f, y_on_curve(1.000f, points, length(points)), epsilon);
EXPECT_NEAR(0.50f, y_on_curve(1.125f, points, length(points)), epsilon);
}
TEST_F(MathTestRaw, y_on_curve1) {
pointf points[] = {
{ -0.25f, 0.10f },
{ 0.00f, 0.20f },
{ 0.50f, 0.30f },
{ 1.00f, -0.30 },
{ 2.00f, -0.50 }
};
EXPECT_NEAR(0.00f, y_on_curve(-0.500f, points, length(points)), epsilon);
EXPECT_NEAR(0.10f, y_on_curve(-0.250f, points, length(points)), epsilon);
EXPECT_NEAR(0.15f, y_on_curve(-0.125f, points, length(points)), epsilon);
EXPECT_NEAR(0.20f, y_on_curve(0.000f, points, length(points)), epsilon);
EXPECT_NEAR(0.22f, y_on_curve(0.100f, points, length(points)), epsilon);
EXPECT_NEAR(0.30f, y_on_curve(0.500f, points, length(points)), epsilon);
EXPECT_NEAR(0.00f, y_on_curve(0.750f, points, length(points)), epsilon);
EXPECT_NEAR(-0.30f, y_on_curve(1.000f, points, length(points)), epsilon);
EXPECT_NEAR(-0.35f, y_on_curve(1.250f, points, length(points)), epsilon);
EXPECT_NEAR(-0.50f, y_on_curve(2.000f, points, length(points)), epsilon);
}