Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
#include <gtest/gtest.h>
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#include <vanetza/geodesy/geodesy.hpp>
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#include <vanetza/geodesy/haversine.hpp>
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#ifdef VANETZA_WITH_GEOGRAPHICLIB
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#include <vanetza/geodesy/geographiclib.hpp>
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#endif
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using namespace vanetza::geodesy;
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namespace units = vanetza::units;
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using units::si::meter;
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using units::degree;
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// Technische Hochschule Ingolstadt
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static const GeodeticPosition thi(48.76714 * degree, 11.43263 * degree);
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// Zentrum fuer Angewandte Forschung
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static const GeodeticPosition zaf(48.7656 * degree, 11.4296 * degree);
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// Munich (short range ~70 km)
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static const GeodeticPosition munich(48.1351 * degree, 11.5820 * degree);
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// Frankfurt (medium range ~304 km)
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static const GeodeticPosition frankfurt(50.1109 * degree, 8.6821 * degree);
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// Sao Paulo (long range ~10000 km)
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static const GeodeticPosition sao_paulo(-25.41272 * degree, -49.24815 * degree);
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TEST(GeodesyHaversine, distance_zero)
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{
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auto d = haversine::distance(thi, thi);
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EXPECT_DOUBLE_EQ(0.0, d / meter);
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}
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TEST(GeodesyHaversine, distance_short_range)
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{
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auto d = haversine::distance(thi, zaf);
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EXPECT_NEAR(d / meter, 280.0, 10.0);
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}
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TEST(GeodesyHaversine, distance_medium_range)
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{
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auto d = haversine::distance(frankfurt, munich);
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EXPECT_NEAR(d / meter, 304000.0, 3000.0);
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}
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TEST(GeodesyHaversine, local_cartesian_short_range)
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{
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auto cart = haversine::local_cartesian(thi, zaf);
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// ZAF is roughly south-west of THI
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EXPECT_NEAR(cart.x / meter, -222.0, 5.0);
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EXPECT_NEAR(cart.y / meter, -171.0, 5.0);
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}
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TEST(GeodesyHaversine, local_cartesian_zero)
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{
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auto cart = haversine::local_cartesian(thi, thi);
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EXPECT_DOUBLE_EQ(cart.x / meter, 0.0);
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EXPECT_DOUBLE_EQ(cart.y / meter, 0.0);
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}
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#ifdef VANETZA_WITH_GEOGRAPHICLIB
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TEST(GeodesyGeographicLib, distance_matches_known_value)
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{
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auto d = geographiclib::distance(thi, sao_paulo);
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EXPECT_NEAR(d / meter, 10185367.442, 0.5);
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}
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TEST(GeodesyGeographicLib, local_cartesian_known_value)
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{
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auto cart = geographiclib::local_cartesian(thi, zaf);
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EXPECT_NEAR(cart.x / meter, -222.74, 0.01);
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EXPECT_NEAR(cart.y / meter, -171.25, 0.01);
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}
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TEST(GeodesyComparison, distance_short_range)
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{
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auto h = haversine::distance(thi, zaf);
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auto g = geographiclib::distance(thi, zaf);
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EXPECT_NEAR(h / meter, g / meter, std::abs(g / meter * 0.005)); // <0.5%
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}
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TEST(GeodesyComparison, distance_medium_range)
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{
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auto h = haversine::distance(frankfurt, munich);
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auto g = geographiclib::distance(frankfurt, munich);
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EXPECT_NEAR(h / meter, g / meter, std::abs(g / meter * 0.005)); // <0.5%
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}
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TEST(GeodesyComparison, distance_long_range)
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{
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auto h = haversine::distance(thi, sao_paulo);
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auto g = geographiclib::distance(thi, sao_paulo);
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EXPECT_NEAR(h / meter, g / meter, std::abs(g / meter * 0.005)); // <0.5%
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}
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TEST(GeodesyComparison, local_cartesian_short_range)
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{
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auto h = haversine::local_cartesian(thi, zaf);
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auto g = geographiclib::local_cartesian(thi, zaf);
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EXPECT_NEAR(h.x / meter, g.x / meter, 1.0); // <1m
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EXPECT_NEAR(h.y / meter, g.y / meter, 1.0);
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}
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TEST(GeodesyComparison, local_cartesian_medium_range)
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{
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auto h = haversine::local_cartesian(thi, munich);
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auto g = geographiclib::local_cartesian(thi, munich);
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EXPECT_NEAR(h.x / meter, g.x / meter, std::abs(g.x / meter * 0.02)); // <2%
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EXPECT_NEAR(h.y / meter, g.y / meter, std::abs(g.y / meter * 0.02));
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}
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#endif // VANETZA_WITH_GEOGRAPHICLIB
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