Merge pull request #3 from ayushc121/patch-1

Tried updating main to run main.cpp on a set of simulated inputs that we pull from a matlab run

Author: RobertJN64

cpp/src/main.cpp

@@ -1,23 +1,86 @@
 #include <Arduino.h>
 #include "matlab_funcs.hpp"
+#include "sample_data.hpp"  // contains x_est_arr, z_arr, covar_arr, dT_arr, GND_arr, exp_x_est_arr
 
 void setup() {
-  Serial.begin(115200);
-  Serial.println("Connected - starting benchmark");
+    Serial.begin(115200);
+    Serial.println("Connected - starting astra sim");
 
-  Vector13 x_est;
-  t_constantsASTRA constantsASTRA;
-  Vector15 z;
-  double dT;
-  double GND;
+    t_constantsASTRA constantsASTRA;
+  
+    /* NOT SURE IF THIS IS NECESSARY OR DONE CORRECTLY??  
+    constantsASTRA.m = 1.0;        
+    constantsASTRA.l = 1.0;        
+    constantsASTRA.g = 9.81;       
+    constantsASTRA.rTB = 0.1;      
+    constantsASTRA.j = Matrix3_3::Identity(); 
+    constantsASTRA.T = 1.0;        
+    constantsASTRA.mag << 0, 0, 1; 
+    */
+  
+    // Covariance matrix (estimated) (makes more sense to use a per-step Q but I'm not sure how to find that...)
+    Matrix12_12 Q_matrix = Matrix12_12::Zero();
+      // Quaternion noise
+      Q_matrix(0,0) = 1e-6;
+      Q_matrix(1,1) = 1e-6;
+      Q_matrix(2,2) = 1e-6;
+      
+      // Position noise
+      Q_matrix(3,3) = 1e-4;
+      Q_matrix(4,4) = 1e-4;
+      Q_matrix(5,5) = 1e-4;
+      
+      // Velocity noise
+      Q_matrix(6,6) = 1e-3;
+      Q_matrix(7,7) = 1e-3;
+      Q_matrix(8,8) = 1e-3;
+      
+      // Gyro bias noise
+      Q_matrix(9,9)   = 1e-8;
+      Q_matrix(10,10) = 1e-8;
+      Q_matrix(11,11) = 1e-8;
+  
+    long long start_t = millis();
 
-  Matrix12_12 P = 1 * Matrix12_12::Identity();
+    bool new_imu_packet;     //NOT SURE HOW TO INITIALIZE THESE...
+    bool new_gps_packet;
+    Matrix12_12 P = 1 * Matrix12_12::Identity();
 
-  bool new_imu_packet;
-  bool new_gps_packet;
 
-  EstimateStateFCN(x_est, constantsASTRA, z, dT, GND, P, new_imu_packet, new_gps_packet);
+    // Loop over all timesteps
+    for (int idx = 0; idx < MAX_IDX; idx++) {
+
+        // Construct Eigen vectors directly from arrays
+        Vector12 x_est(x_est_arr[idx]);
+        Vector15 z(z_arr[idx]);
+        Vector3 covar_vec(covar_arr[idx]);
+
+        double dT_val = dT_arr[idx];
+        double GND_val = GND_arr[idx];
+
+        Vector12 ret_state = EstimateStateFCN(x_est, constantsASTRA, z, covar_vec, dT_val, Q_matrix, GND_val, P, new_imu_packet, new_gps_packet);
+
+        // comparison with expected output
+        for (int i = 0; i < 12; i++) {
+            if (abs(ret_state(i) - exp_x_est_arr[idx][i]) > 0.0002) {
+                Serial.print("Mismatch at idx: ");
+                Serial.print(idx);
+                Serial.print(" element: ");
+                Serial.print(i);
+                Serial.print(" expected: ");
+                Serial.print(exp_x_est_arr[idx][i], 6);
+                Serial.print(" got: ");
+                Serial.println(ret_state(i), 6);
+            }
+        }
+    }
+  
+    long long end_t = millis();
+  
+    Serial.print("Finished astra sim in ");
+    Serial.print(end_t - start_t);
+    Serial.println(" ms.");
 }
 
 void loop() {
-}
+}