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1 | #include "pch.h" | |||
2 | ||||
3 | #include "error_accumulator.h" | |||
4 | ||||
5 | 4 | TEST(errorAccumulator, ignoreSmallError) { | ||
6 | 1 | ErrorAccumulator dut; | ||
7 | 1 | dut.init(5, 0.01); | ||
8 | ||||
9 |
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1000001 | for (size_t i = 0; i < 1'000'000; i++) { |
10 | // An error just below the threshold should never trip | |||
11 |
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1000000 | ASSERT_EQ(0, dut.accumulate(4)); | |
12 | } | |||
13 | } | |||
14 | ||||
15 | 4 | TEST(errorAccumulator, integrateError) { | ||
16 | 1 | ErrorAccumulator dut; | ||
17 | 1 | dut.init(5, 0.01); | ||
18 | ||||
19 |
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101 | for (size_t i = 0; i < 100; i++) { |
20 | // error of 1 over the ignore value | |||
21 |
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100 | dut.accumulate(6); | |
22 | } | |||
23 | ||||
24 | // Integral should be 1 * dt * 100 = 1.0 | |||
25 |
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1 | ASSERT_NEAR(dut.getAccumulator(), 1, 0.001f); | |
26 | } | |||
27 | ||||
28 | 4 | TEST(errorAccumulator, integrateNegativeError) { | ||
29 | 1 | ErrorAccumulator dut; | ||
30 | 1 | dut.init(5, 0.01); | ||
31 | ||||
32 |
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101 | for (size_t i = 0; i < 100; i++) { |
33 | // error of 1 over the ignore value, but negative | |||
34 |
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100 | dut.accumulate(-6); | |
35 | } | |||
36 | ||||
37 | // Integral should be 1 * dt * 100 = 1.0 | |||
38 |
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1 | ASSERT_NEAR(dut.getAccumulator(), 1, 0.001f); | |
39 | } | |||
40 | ||||
41 | TEST(errorAccumulator, integrateErrorBothSigns) { | |||
42 | ErrorAccumulator dut; | |||
43 | dut.init(5, 0.01); | |||
44 | ||||
45 | for (size_t i = 0; i < 100; i++) { | |||
46 | // These should collectively integrate 1 * dt worth of error | |||
47 | dut.accumulate(-5.5); | |||
48 | dut.accumulate(5.5); | |||
49 | } | |||
50 | ||||
51 | // Integral should be 2 * 0.5 * dt * 100 = 1.0 | |||
52 | ASSERT_NEAR(dut.getAccumulator(), 1, 0.001f); | |||
53 | } | |||
54 |