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96 lines
No EOL
2.6 KiB
Lua
96 lines
No EOL
2.6 KiB
Lua
local gps = require("gps_lib")
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--local kalman = require("kalman_lib")
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function read_lat_lon()
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local file = io.open("/www/kalman_lua/matrix_c_test/testdata/gps_example_1", 'r')
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while file:read() do
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local lat, lon = file:read("*n", "*n")
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if lat and lon then
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return lat, lon
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end
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end
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file:close()
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print("read_lat_lon - OK")
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end
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function test_read_lat_long()
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local lat, lon = read_lat_lon()
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assert(math.abs(lat - 39.315828) < 0.000001)
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assert(math.abs(lon - -120.167838) < 0.000001)
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for i = 1, 131 do
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local lat, lon = read_lat_lon()
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end
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print("test_read_lat_long - OK")
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end
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function test_bearing_north()
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local kalman = gps.create_velocity2d(1.0)
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for i = 1, 100 do
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kalman = gps.update_velocity2d(kalman, i * 0.0001, 0.0, 1.0)
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end
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local bearing = gps.get_bearing(kalman)
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assert(math.abs(bearing - 0.0) < 0.01)
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local dlat, dlon = gps.get_velocity(kalman)
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assert(math.abs(dlat - 0.0001) < 0.00001)
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assert(math.abs(dlon) < 0.00001)
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print("test_bearing_north - OK")
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end
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function test_bearing_east()
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local kalman = gps.create_velocity2d(1.0)
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for i = 1, 100 do
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kalman = gps.update_velocity2d(kalman, 0.0, i * 0.0001, 1.0)
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end
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local bearing = gps.get_bearing(kalman)
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assert(math.abs(bearing - 90.0) < 0.01)
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--At this rate, it takes 10,000 timesteps to travel one longitude
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--unit, and thus 3,600,000 timesteps to travel the circumference of
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--the earth. Let's say one timestep is a second, so it takes
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--3,600,000 seconds, which is 60,000 minutes, which is 1,000
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--hours. Since the earth is about 25000 miles around, this means we
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--are traveling at about 25 miles per hour.
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local mph = gps.get_mph(kalman)
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assert(math.abs(mph - 25.0) < 2.0)
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print("test_bearing_east - OK")
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end
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function test_bearing_south()
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local kalman = gps.create_velocity2d(1.0)
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for i = 1, 100 do
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kalman = gps.update_velocity2d(kalman, i * -0.0001, 0.0, 1.0)
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end
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local bearing = gps.get_bearing(kalman)
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assert(math.abs(bearing - 180.0) < 0.01)
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print("test_bearing_south - OK")
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end
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function test_bearing_west()
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local kalman = gps.create_velocity2d(1.0)
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for i = 1, 100 do
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kalman = gps.update_velocity2d(kalman, 0.0, i * -0.0001, 1.0)
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end
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local bearing = gps.get_bearing(kalman)
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assert(math.abs(bearing - 270.0) < 0.01)
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print("test_bearing_west - OK")
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end
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function test_calculate_mph()
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local mph = gps.calculate_mph(39.315842, -120.167107, -0.000031, 0.000003);
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assert(math.abs(mph - 7.74) < 0.01);
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print("test_calculate_mph - OK")
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end
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-- test start
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test_read_lat_long()
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test_bearing_north()
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test_bearing_east()
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test_bearing_south()
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test_bearing_west()
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test_calculate_mph() |