@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 1000)
public void testConsistencyWithAlphaFilteredYoVariable()
{
Random random = new Random(3453456);
for (int i = 0; i < 100; i++)
{
double alpha = random.nextDouble();
YoVariableRegistry registry = new YoVariableRegistry("blop");
AlphaFilteredYoFrameVector2d filteredVector = new AlphaFilteredYoFrameVector2d("tested", "", registry, alpha, ReferenceFrame.getWorldFrame());
AlphaFilteredYoVariable xFiltered = new AlphaFilteredYoVariable("xRef", registry, alpha);
AlphaFilteredYoVariable yFiltered = new AlphaFilteredYoVariable("yRef", registry, alpha);
Vector2D unfilteredVector = new Vector2D();
for (int j = 0; j < 10; j++)
{
unfilteredVector.add(EuclidCoreRandomTools.nextVector2D(random, 0.0, 0.5));
filteredVector.update(unfilteredVector);
xFiltered.update(unfilteredVector.getX());
yFiltered.update(unfilteredVector.getY());
EuclidCoreTestTools.assertTuple2DEquals(new Vector2D(xFiltered.getValue(), yFiltered.getValue()), filteredVector, EPSILON);
}
}
}
}