From b93af7454f3cb654620a73f4bfb60c8c3bfcc71e Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 31 Mar 2017 15:49:17 -0500
Subject: filter class testing--not complete

---
 tests/Makefile        |  9 ++++++++-
 tests/test_filter.cpp | 43 +++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 51 insertions(+), 1 deletion(-)
 create mode 100644 tests/test_filter.cpp

diff --git a/tests/Makefile b/tests/Makefile
index 37d1687..06e42ae 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -6,16 +6,23 @@ CXXFLAGS+=$(shell pkg-config --cflags eigen3 yaml-cpp)
 LIBS+=$(shell pkg-config --libs eigen3 yaml-cpp)
 #LIBS+=$(shell pkg-config --libs opencv)
 
+.PHONY: all
+
+all: test_camera test_feature test_filter
+
 test_camera: test_camera.o ../src/camera.o
 	$(CXX) -o $@ $^ $(CXXFLAGS) ${LIBS}
 
 test_feature: ${OBJECT}
 	$(CXX) -o $@ $^ $(CXXFLAGS) ${LIBS}
 
+test_filter: test_filter.o ../src/filter.o
+	$(CXX) -o $@ $^ $(CXXFLAGS) ${LIBS}
+
 .cpp.o:
 	$(CXX) $(CXXFLAGS) ${LIBS} -c $< -o $@
 
 .PHONY: clean
 clean:
-	rm -f test_camera test_feature *.o src/*.o
+	rm -f test_filter test_camera test_feature *.o src/*.o
 
diff --git a/tests/test_filter.cpp b/tests/test_filter.cpp
new file mode 100644
index 0000000..403d3d4
--- /dev/null
+++ b/tests/test_filter.cpp
@@ -0,0 +1,43 @@
+/*
+ * =====================================================================================
+ *
+ *       Filename:  test_filter.cpp
+ *
+ *    Description:  Tests the filter class
+ *
+ *        Version:  1.0
+ *        Created:  03/31/2017 03:13:54 PM
+ *       Revision:  none
+ *       Compiler:  gcc
+ *
+ *         Author:  Martin Miller (MHM), miller7@illinois.edu
+ *   Organization:  Aerospace Robotics and Controls Lab (ARC)
+ *
+ * =====================================================================================
+ */
+
+
+#include <iostream>
+
+#include "filter.h"
+using std::cout;
+using std::endl;
+
+int main(int argc, char **argv)
+{
+    Matrix<double,4,1> b;
+    Matrix<double,3,1> a;
+    b << 0.00289819,  0.00869458,  0.00869458,  0.00289819;
+    a << -2.37409474,  1.92935567, -0.53207537;
+    a/a[0];
+    Filter H(b,a);
+    double x,y,z;
+    while (scanf("%lf,%lf,%lf", &x, &y, &z)!=EOF) {
+        Vector3d X, Y;
+        X << x,y,z;
+        Y = H.update(X);
+        cout << "X: " << X.transpose() << " Y: " << Y.transpose() << endl;
+    }
+	return 0;
+}
+
-- 
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