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kalmanfilter: genx symlinks -> canned baseline data

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This commit is contained in:
Roland Conybeare 2023-10-23 12:30:37 -04:00
commit 9bb3f8c668
3 changed files with 104 additions and 4 deletions
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5
utest/CMakeLists.txt
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@ -13,9 +13,12 @@ add_test(NAME ${SELF_EXE} COMMAND ${SELF_EXE})
target_code_coverage(${SELF_EXE} AUTO ALL) target_code_coverage(${SELF_EXE} AUTO ALL)
# ---------------------------------------------------------------- # ----------------------------------------------------------------
# create convenience symlink to canned data # create convenience symlink from build dir back to canned data.
# This is ok since we don't implement install for unit tests
#create_symlink("${CMAKE_SOURCE_DIR}/utestdata/" "src/filter/utest/utestdata") #create_symlink("${CMAKE_SOURCE_DIR}/utestdata/" "src/filter/utest/utestdata")
file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/utest/utestdata)
file(CREATE_LINK ${PROJECT_SOURCE_DIR}/utest/utestdata/filter ${PROJECT_BINARY_DIR}/utest/utestdata/filter SYMBOLIC)
# ---------------------------------------------------------------- # ----------------------------------------------------------------
# generic project dependency # generic project dependency

3
utest/KalmanFilter.test.cpp
View file

@ -29,9 +29,6 @@ namespace xo {
using xo::ref::rp; using xo::ref::rp;
using xo::log_level; using xo::log_level;
using logutil::matrix; using logutil::matrix;
//using logutil::scope;
//using logutil::tostr;
//using logutil::xtag;
using xo::print::ccs; using xo::print::ccs;
using Eigen::MatrixXd; using Eigen::MatrixXd;
using Eigen::VectorXd; using Eigen::VectorXd;

100
utest/utestdata/filter/kalman-revert1 Normal file
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@ -0,0 +1,100 @@
step z0 x0 P00 K0
1 1.33055 1.28103 0.195775 0.783099
2 1.26559 1.2664 0.103557 0.414227
3 0.790814 1.1272 0.0680813 0.272325
4 0.173362 0.933668 0.0493859 0.197543
5 2.12197 1.11662 0.0378989 0.151595
6 1.00197 1.09766 0.0301647 0.120659
7 -0.312247 0.954347 0.0246315 0.0985261
8 1.76439 1.02286 0.020499 0.081996
9 0.518422 0.986867 0.0173123 0.0692491
10 0.756683 0.973864 0.0147938 0.0591754
11 -0.609708 0.894249 0.0127646 0.0510585
12 0.330435 0.874259 0.011104 0.0444159
13 1.03713 0.886639 0.00972751 0.03891
14 -0.994029 0.827609 0.00857454 0.0342982
15 1.58353 0.858947 0.00760022 0.0304009
16 0.494725 0.855945 0.00677073 0.0270829
17 1.0205 0.866962 0.00606004 0.0242401
18 1.98651 0.897865 0.00544782 0.0217913
19 1.70559 0.918761 0.00491797 0.0196719
20 1.44881 0.932201 0.00445755 0.0178302
21 2.16318 0.955508 0.00405605 0.0162242
22 0.353787 0.948782 0.00370485 0.0148194
23 1.72676 0.961879 0.00339684 0.0135874
24 -1.55312 0.932313 0.00312606 0.0125043
25 -0.523229 0.918847 0.00288753 0.0115501
26 1.81676 0.932476 0.00267702 0.0107081
27 1.65387 0.943006 0.00249094 0.00996377
28 -0.766534 0.929922 0.00232623 0.00930491
29 1.1143 0.935004 0.00218024 0.00872095
30 0.908743 0.938011 0.0020507 0.00820282
31 1.80832 0.947825 0.00193566 0.00774263
32 1.61306 0.955293 0.00183339 0.00733354
33 1.10591 0.958563 0.0017424 0.00696961
34 1.54404 0.964512 0.0016614 0.00664561
35 1.47595 0.969526 0.00158925 0.00635699
36 -1.16643 0.958012 0.00152494 0.00609975
37 2.772 0.970748 0.00146759 0.00587036
38 0.0147533 0.966786 0.00141643 0.00566572
39 1.5648 0.971716 0.00137077 0.00548308
40 0.758209 0.971987 0.00133001 0.00532003
41 0.602221 0.971467 0.0012936 0.00517441
42 1.02795 0.973171 0.00126108 0.00504433
43 1.61126 0.977651 0.00123203 0.0049281
44 3.23237 0.98964 0.00120606 0.00482423
45 -1.20629 0.979766 0.00118284 0.00473137
46 2.34054 0.987098 0.00116209 0.00464835
47 1.886 0.991852 0.00114353 0.00457412
48 1.62241 0.9951 0.00112693 0.00450773
49 0.10733 0.991395 0.00111209 0.00444835
50 0.111089 0.987954 0.00109881 0.00439523
51 -0.045289 0.984062 0.00108693 0.00434771
52 0.339478 0.98208 0.0010763 0.0043052
53 -0.109018 0.978316 0.00106679 0.00426715
54 -1.15684 0.970358 0.00105828 0.00423311
55 -0.289587 0.966538 0.00105066 0.00420265
56 1.04772 0.968543 0.00104385 0.00417538
57 -0.0931435 0.965703 0.00103774 0.00415098
58 2.56415 0.974011 0.00103228 0.00412914
59 0.352559 0.972751 0.0010274 0.00410959
60 0.173725 0.970838 0.00102302 0.00409209
61 0.80765 0.971625 0.00101911 0.00407643
62 2.41789 0.978913 0.0010156 0.0040624
63 2.63322 0.986663 0.00101246 0.00404985
64 2.59753 0.993833 0.00100965 0.00403861
65 0.530642 0.992274 0.00100714 0.00402855
66 1.24782 0.993686 0.00100489 0.00401955
67 0.695031 0.992802 0.00100287 0.00401149
68 2.80672 1.00042 0.00100107 0.00400427
69 0.122651 0.996894 0.000999451 0.0039978
70 1.22154 0.997945 0.000998005 0.00399202
71 0.269797 0.995145 0.00099671 0.00398684
72 1.78662 0.998538 0.00099555 0.0039822
73 0.4817 0.996555 0.000994512 0.00397805
74 1.05221 0.996948 0.000993582 0.00397433
75 1.75822 1.00012 0.00099275 0.003971
76 1.31536 1.00137 0.000992005 0.00396802
77 1.29006 1.00244 0.000991338 0.00396535
78 0.857458 1.00175 0.000990741 0.00396296
79 0.269498 0.998761 0.000990206 0.00396082
80 0.131184 0.995388 0.000989727 0.00395891
81 0.736283 0.994592 0.000989298 0.00395719
82 -0.32478 0.989642 0.000988914 0.00395566
83 1.3352 0.991525 0.00098857 0.00395428
84 0.279734 0.989133 0.000988263 0.00395305
85 1.74807 0.992673 0.000987987 0.00395195
86 1.82522 0.996328 0.00098774 0.00395096
87 -0.281213 0.991464 0.000987519 0.00395008
88 1.61161 0.994338 0.000987322 0.00394929
89 2.63571 1.0011 0.000987144 0.00394858
90 -0.139888 0.996542 0.000986986 0.00394794
91 3.48906 1.00655 0.000986844 0.00394738
92 2.01113 1.01019 0.000986717 0.00394687
93 1.84914 1.01299 0.000986603 0.00394641
94 0.480262 1.01025 0.000986501 0.003946
95 1.45288 1.01148 0.00098641 0.00394564
96 -0.0838873 1.00659 0.000986328 0.00394531
97 -0.570744 1.00004 0.000986255 0.00394502
98 -0.214659 0.995244 0.000986189 0.00394476
99 1.7904 0.998618 0.000986131 0.00394452