mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-26 16:32:06 +08:00
Adeeb Shihadeh
100f89a161
* openpilot v0.9.9 release date: 2025-06-05T19:54:08 master commit: 8aadf02b2fd91f4e1285e18c2c7feb32d93b66f5 * AGNOS 12.4 (#35558) agnos12.4 --------- Co-authored-by: Vehicle Researcher <user@comma.ai> Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>
30 lines
659 B
Python
30 lines
659 B
Python
from openpilot.common.simple_kalman import KF1D
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class TestSimpleKalman:
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def setup_method(self):
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dt = 0.01
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x0_0 = 0.0
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x1_0 = 0.0
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A0_0 = 1.0
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A0_1 = dt
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A1_0 = 0.0
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A1_1 = 1.0
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C0_0 = 1.0
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C0_1 = 0.0
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K0_0 = 0.12287673
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K1_0 = 0.29666309
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self.kf = KF1D(x0=[[x0_0], [x1_0]],
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A=[[A0_0, A0_1], [A1_0, A1_1]],
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C=[C0_0, C0_1],
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K=[[K0_0], [K1_0]])
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def test_getter_setter(self):
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self.kf.set_x([[1.0], [1.0]])
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assert self.kf.x == [[1.0], [1.0]]
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def test_update_returns_state(self):
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x = self.kf.update(100)
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assert x == [i[0] for i in self.kf.x]
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