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// Copyright 2020 PAL Robotics SL.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// To get M_PI on Windows.
#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif
#include <cmath>
#include <memory>
#include "gtest/gtest.h"
#include "rcpputils/rolling_mean_accumulator.hpp"
TEST(TestAccumulator, test_accumulator)
{
constexpr double THRESHOLD = 1e-12;
rcpputils::RollingMeanAccumulator<double> accum(4);
accum.accumulate(1.);
EXPECT_NEAR(1., accum.getRollingMean(), THRESHOLD);
accum.accumulate(1.);
EXPECT_NEAR(1., accum.getRollingMean(), THRESHOLD);
accum.accumulate(5.);
EXPECT_NEAR(7. / 3., accum.getRollingMean(), THRESHOLD);
accum.accumulate(5.);
EXPECT_NEAR(12. / 4., accum.getRollingMean(), THRESHOLD);
// Start removing old values
accum.accumulate(5.);
EXPECT_NEAR(16. / 4., accum.getRollingMean(), THRESHOLD);
accum.accumulate(5.);
EXPECT_NEAR(20. / 4., accum.getRollingMean(), THRESHOLD);
}
TEST(TestAccumulator, spam_accumulator)
{
constexpr double THRESHOLD = 1e-12;
rcpputils::RollingMeanAccumulator<double> accum(10);
for (int i = 0; i < 10000; ++i) {
accum.accumulate(M_PI);
EXPECT_NEAR(M_PI, accum.getRollingMean(), THRESHOLD);
}
}
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