fix(signal_processing): unit test bug

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Sep 27, 2022 · 4c739d6 · 4c739d6
1 parent 93cc9bd
commit 4c739d6
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Showing 3 changed files with 5 additions and 18 deletions.
diff --git a/common/signal_processing/include/signal_processing/lowpass_filter.hpp b/common/signal_processing/include/signal_processing/lowpass_filter.hpp
@@ -33,7 +33,7 @@ class LowpassFilterInterface
 public:
   explicit LowpassFilterInterface(const double gain) : gain_(gain) {}
 
-  void reset() { x_ = T{}; }
+  void reset() { x_ = {}; }
   void reset(const T & x) { x_ = x; }
 
   boost::optional<T> getValue() const { return x_; }

diff --git a/common/signal_processing/test/src/lowpass_filter_1d_test.cpp b/common/signal_processing/test/src/lowpass_filter_1d_test.cpp
@@ -23,7 +23,7 @@ TEST(lowpass_filter_1d, filter)
   LowpassFilter1d lowpass_filter_1d(0.1);
 
   // initial state
-  EXPECT_EQ(*lowpass_filter_1d.getValue(), {});
+  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
 
   // random filter
   EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon);
@@ -33,7 +33,7 @@ TEST(lowpass_filter_1d, filter)
 
   // reset without value
   lowpass_filter_1d.reset();
-  EXPECT_EQ(*lowpass_filter_1d.getValue(), {});
+  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
 
   // reset with value
   lowpass_filter_1d.reset(-1.1);

diff --git a/common/signal_processing/test/src/lowpass_filter_test.cpp b/common/signal_processing/test/src/lowpass_filter_test.cpp
@@ -39,13 +39,7 @@ TEST(lowpass_filter_twist, filter)
   LowpassFilterTwist lowpass_filter_(0.1);
 
   {  // initial state
-    const auto filtered_twist = lowpass_filter_.getValue();
-    EXPECT_NEAR(filtered_twist->linear.x, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->linear.y, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->linear.z, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->angular.x, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->angular.y, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->angular.z, 0.0, epsilon);
+    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
   }
 
   {  // random filter
@@ -62,14 +56,7 @@ TEST(lowpass_filter_twist, filter)
 
   {  // reset without value
     lowpass_filter_.reset();
-
-    const auto filtered_twist = lowpass_filter_.getValue();
-    EXPECT_NEAR(filtered_twist->linear.x, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->linear.y, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->linear.z, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->angular.x, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->angular.y, 0.0, epsilon);
-    EXPECT_NEAR(filtered_twist->angular.z, 0.0, epsilon);
+    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
   }
 
   {  // reset with value