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exp average is pretty cool

This commit is contained in:
Andrey 2022-11-28 19:22:45 -05:00
parent c596445477
commit 5b88c6b535
3 changed files with 58 additions and 0 deletions
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21
firmware/util/math/exp_average.h Normal file
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/**
* @file exp_average.h
*/
#pragma once
class ExpAverage {
public:
float average(float value) {
current = smoothingFactor * value + (1 - smoothingFactor) * current;
return current;
}
void init(int length) {
smoothingFactor = 2 / (length + 1.0);
}
private:
float current = 0;
float smoothingFactor = 0.5;
};

36
unit_tests/tests/util/test_exp_average.cpp Normal file
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#include "pch.h"
#include "exp_average.h"
TEST(exp_average, length1) {
ExpAverage ea;
ea.init(1);
ASSERT_NEAR(ea.average(3), 3, EPS2D);
ASSERT_NEAR(ea.average(8), 8, EPS2D);
ASSERT_NEAR(ea.average(3), 3, EPS2D);
ASSERT_NEAR(ea.average(8), 8, EPS2D);
}
TEST(exp_average, length2) {
ExpAverage ea;
ea.init(2);
ASSERT_NEAR(ea.average(3), 2, EPS2D);
ASSERT_NEAR(ea.average(8), 6, EPS2D);
ASSERT_NEAR(ea.average(3), 4, EPS2D);
ASSERT_NEAR(ea.average(8), 6.6666, EPS2D);
}
TEST(exp_average, length12) {
ExpAverage ea;
ea.init(12);
ASSERT_NEAR(ea.average(3), 0.4615, EPS2D);
ASSERT_NEAR(ea.average(8), 1.6213, EPS2D);
ASSERT_NEAR(ea.average(3), 1.8334, EPS2D);
ASSERT_NEAR(ea.average(8), 2.7821, EPS2D);
for (int i = 0;i<300;i++) {
ea.average(3);
ea.average(8);
}
ASSERT_NEAR(ea.average(3), 5.2916, EPS2D);
}

1
unit_tests/tests/util/test_util.mk
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@ -2,6 +2,7 @@
CPPSRC += $(PROJECT_DIR)/../unit_tests/tests/util/test_buffered_writer.cpp \
$(PROJECT_DIR)/../unit_tests/tests/util/test_error_accumulator.cpp \
$(PROJECT_DIR)/../unit_tests/tests/util/test_exp_average.cpp \
INCDIR += $(PROJECT_DIR)/controllers/system