state_test.go

package magcal

import (
	"fmt"
	"testing"
)

func TestDefaultState(t *testing.T) {
	s := DefaultState()
	v := vector{1, 2, 3}
	w := s.apply(v)
	if !v.close(w, 3) {
		t.Fatalf(`want %v got %v`, v, w)
	}
}

func TestCustomState(t *testing.T) {
	cal := []float32{
		0.5, 0.0, 0.0, // offset
		1.0, 0.0, 0.0, // covariance matrix
		0.0, 1.2, 0.0,
		0.0, 0.0, 1.0,
	}
	s := NewState(cal)
	v := vector{1, 2, 3}
	expect := vector{0.5, 2.4, 3}

	actual := s.apply(v)
	if !actual.close(expect, 3) {
		t.Fatalf(`want %v got %v`, expect, actual)
	}
}

// Helper methods

func (s State) dump() {
	println("===")
	for i := range s.data {
		fmt.Printf("%5.2f, ", s.data[i])
		if i > 0 && (i+1)%3 == 0 {
			println()
		}
	}
	println("===")
}

func (s State) diff(ss State) State {
	result := make([]float32, 12)
	for i := range s.data {
		result[i] = s.data[i] - ss.data[i]
	}
	return NewState(result)
}