TestGravityTracker3DOF.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TEST_TESTDEVICES_TEST_GRAVITY_TRACKER_3DOF_H
#define META_OCEAN_TEST_TESTDEVICES_TEST_GRAVITY_TRACKER_3DOF_H
 
#include "ocean/test/testdevices/TestDevices.h"
 
#include "ocean/base/Timestamp.h"
 
#include "ocean/math/Vector3.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestDevices
{
 
/**
 * This class implements tests for the GravityTracker3DOF class.
 * @ingroup testdevices
 */
class OCEAN_TEST_DEVICES_EXPORT TestGravityTracker3DOF
{
    public:
 
        /**
         * Invokes all tests.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param selector The selector defining which tests will be executed
         * @return True, if succeeded
         */
        static bool test(const double testDuration, const TestSelector& selector);
 
        /**
         * Tests the sample() function with random measurements and all interpolation strategies.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testSampleInterpolation(const double testDuration);
 
    protected:
 
        /**
         * Computes the expected interpolated gravity vector for a given query timestamp.
         * Uses spherical linear interpolation (slerp) between the two bounding samples.
         * @param queryTime The query timestamp
         * @param timestamps The sample timestamps (must be sorted)
         * @param gravities The gravity vectors (unit vectors)
         * @return The expected interpolated gravity vector
         */
        static Vector3 expectedInterpolatedGravity(const double queryTime, const Timestamps& timestamps, const Vectors3& gravities);
};
 
} // namespace TestDevices
 
} // namespace Test
 
} // namespace Ocean
 
#endif // META_OCEAN_TEST_TESTDEVICES_TEST_GRAVITY_TRACKER_3DOF_H