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Make PitchMass test easier to maintain #112

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merged 7 commits into from
Dec 15, 2021
Merged

Make PitchMass test easier to maintain #112

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fa72c56
Make PitchMass test easier to maintain
chapulina Dec 9, 2021
b5453e9
Merge branch 'main' into chapulina/pitch_mass_test
arjo129 Dec 13, 2021
e8ae97d
Merge branch 'main' into chapulina/pitch_mass_test
chapulina Dec 14, 2021
41ca71d
Merge branch 'main' into chapulina/pitch_mass_test
chapulina Dec 14, 2021
0b7ee0c
increase tolerances even more
chapulina Dec 15, 2021
dcdf726
Merge branch 'chapulina/pitch_mass_test' of github.com:osrf/lrauv int…
chapulina Dec 15, 2021
999f3a3
Merge branch 'main' into chapulina/pitch_mass_test
chapulina Dec 15, 2021
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51 changes: 17 additions & 34 deletions lrauv_ignition_plugins/test/test_mission_pitch_mass.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -73,40 +73,23 @@ TEST_F(LrauvTestFixture, PitchMass)
ignmsg << "Logged [" << this->tethysPoses.size() << "] poses" << std::endl;

int maxIterations{28000};
ASSERT_LT(maxIterations, this->tethysPoses.size());
EXPECT_LT(maxIterations, this->tethysPoses.size());

// * Y, roll and yaw are kept pretty stable close to zero with low tolerances
// * The pitch target is 20 deg, but there's a lot of oscillation, so we need
// the high tolerance
// * X and Y are meant to stay close to zero, but the vehicle goes forward
// (-X, +Z) slowly. That could be caused by the pitch oscillation?
this->CheckRange(2000, {-0.01, 0.00, -0.06, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(4000, {-0.17, 0.00, -0.01, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(6000, {-0.51, 0.00, 0.12, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(8000, {-0.87, 0.00, 0.22, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(10000, {-1.21, 0.00, 0.34, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(12000, {-1.55, 0.00, 0.50, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(14000, {-1.90, 0.00, 0.63, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(16000, {-2.25, 0.00, 0.73, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(18000, {-2.60, 0.00, 0.86, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(20000, {-2.93, 0.00, 1.02, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(22000, {-3.29, 0.00, 1.13, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(24000, {-3.64, 0.00, 1.24, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(26000, {-3.97, 0.00, 1.39, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
this->CheckRange(28000, {-4.32, 0.00, 1.53, 0.00, IGN_DTOR(20), 0.00},
{0.1, 0.01, 0.1}, {IGN_DTOR(2), IGN_DTOR(18), IGN_DTOR(2)});
// Give it some iterations to reach steady state
for (auto i = 2000u; i < this->tethysPoses.size(); i = i + 1000)
{
this->CheckRange(i,
// Target pose has no translation, roll or yaw, and 20 deg pitch
{0.0, 0.0, 0.0, 0.0, IGN_DTOR(20), 0},
// Y is kept pretty stable close to zero with low tolerances
// \TODO(chapulina) X and Y are meant to stay close to zero, but the
// vehicle goes forward (-X, +Z) slowly. That's caused by the pitch
// oscillation.
{4.5, 0.01, 1.6},
// Roll and yaw are kept pretty stable close to zero with low tolerances
// \TODO(chapulina) The pitch has a lot of oscillation, so we need the
// high tolerance
{IGN_DTOR(2), IGN_DTOR(21), IGN_DTOR(2)});
}
}