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Filter: increase test coverage #816

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b9e3ee1
Filter: increase test coverage
scpeters Aug 21, 2026
7df3819
Merge branch 'main' into scpeters/filter_more_test_coverage
scpeters Aug 24, 2026
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7 changes: 4 additions & 3 deletions include/gz/math/Filter.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ namespace gz::math
/// \return The filter's current output.
public: const T& Process(const T &_x)
{
this->y0 = a0 * _x + b1 * this->y0;
this->y0 = static_cast<T>(a0 * _x + b1 * this->y0);
return this->y0;
}

Expand Down Expand Up @@ -199,11 +199,12 @@ namespace gz::math
/// \return The filter's current output.
public: virtual const T& Process(const T &_x)
{
this->y0 = this->a0 * _x +
this->y0 = static_cast<T>(
this->a0 * _x +
this->a1 * this->x1 +
this->a2 * this->x2 -
this->b1 * this->y1 -
this->b2 * this->y2;
this->b2 * this->y2);

this->x2 = this->x1;
this->x1 = _x;
Expand Down
45 changes: 45 additions & 0 deletions src/Filter_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,9 @@ TEST(FilterTest, OnePoleQuaternion)

EXPECT_EQ(filterB.Process(math::Quaterniond(0.1, 0.2, 0.3)),
math::Quaterniond(0.98841, 0.0286272, 0.0885614, 0.119929));

filterA.Set(math::Quaterniond(0.707, 0, 0.707, 0));
EXPECT_EQ(filterA.Value(), math::Quaterniond(0.707, 0, 0.707, 0));
}

/////////////////////////////////////////////////
Expand All @@ -67,6 +70,9 @@ TEST(FilterTest, OnePoleVector3)

EXPECT_EQ(filterB.Process(math::Vector3d(0.1, 0.2, 0.3)),
math::Vector3d(0.089113, 0.178226, 0.267339));

filterA.Set(math::Vector3d(1, 2, 3));
EXPECT_EQ(filterA.Value(), math::Vector3d(1, 2, 3));
}

/////////////////////////////////////////////////
Expand All @@ -81,6 +87,9 @@ TEST(FilterTest, Biquad)

filterA.Fc(0.3, 1.4, 0.1);
EXPECT_DOUBLE_EQ(filterA.Process(10.25), 0.96057152402651302);
// Multi-step Process calls to exercise state update
EXPECT_DOUBLE_EQ(filterA.Process(5.0), 2.2809792005709335);
EXPECT_DOUBLE_EQ(filterA.Process(2.0), 2.2786852100645718);

math::BiQuad<double> filterB(4.3, 10.6);
EXPECT_NEAR(filterB.Value(), 0.0, 1e-10);
Expand All @@ -102,4 +111,40 @@ TEST(FilterTest, BiquadVector3)
EXPECT_EQ(filterB.Value(), math::Vector3d(0, 0, 0));
EXPECT_EQ(filterB.Process(math::Vector3d(0.1, 20.3, 33.45)),
math::Vector3d(0.031748, 6.44475, 10.6196));

filterA.Set(math::Vector3d(4, 5, 6));
EXPECT_EQ(filterA.Value(), math::Vector3d(4, 5, 6));

filterA.Fc(0.5, 2.0);
EXPECT_EQ(filterA.Process(math::Vector3d(1.0, 2.0, 3.0)),
math::Vector3d(3.25, 4.25, 5.25));

filterA.Fc(0.5, 2.0, 0.2);
EXPECT_EQ(filterA.Process(math::Vector3d(1.0, 2.0, 3.0)),
math::Vector3d(19.0 / 7.0, 26.0 / 7.0, 33.0 / 7.0));
}

/////////////////////////////////////////////////
TEST(FilterTest, TemplateTypes)
{
// OnePole template instantiations
math::OnePole<float> filterF(0.6f, 1.4f);
EXPECT_FLOAT_EQ(filterF.Process(2.5f), 2.330771f);
filterF.Set(1.5f);
EXPECT_FLOAT_EQ(filterF.Value(), 1.5f);

math::OnePole<int> filterI(1, 2);
filterI.Set(10);
EXPECT_EQ(filterI.Value(), 10);

// BiQuad template instantiations
math::BiQuad<float> biquadF(4.3f, 10.6f);
EXPECT_NEAR(biquadF.Value(), 0.0f, 1e-6f);
biquadF.Set(3.5f);
EXPECT_FLOAT_EQ(biquadF.Value(), 3.5f);

math::BiQuad<int> biquadI(1, 2);
biquadI.Set(20);
EXPECT_EQ(biquadI.Value(), 20);
}

43 changes: 43 additions & 0 deletions src/python_pybind11/test/Filter_TEST.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,12 @@

import unittest
from gz.math import BiQuadd
from gz.math import BiQuadf
from gz.math import BiQuadi
from gz.math import BiQuadVector3
from gz.math import OnePoled
from gz.math import OnePolef
from gz.math import OnePolei
from gz.math import OnePoleQuaternion
from gz.math import OnePoleVector3
from gz.math import Quaterniond
Expand Down Expand Up @@ -51,6 +55,9 @@ def test_one_pole_quaternion(self):
Quaterniond(0.98841, 0.0286272,
0.0885614, 0.119929))

filter_a.set(Quaterniond(0.707, 0, 0.707, 0))
self.assertAlmostEqual(filter_a.value(), Quaterniond(0.707, 0, 0.707, 0))

def test_one_pole_vector3(self):
filter_a = OnePoleVector3()
self.assertAlmostEqual(filter_a.value(), Vector3d(0, 0, 0))
Expand All @@ -64,6 +71,9 @@ def test_one_pole_vector3(self):
self.assertAlmostEqual(filter_b.process(Vector3d(0.1, 0.2, 0.3)),
Vector3d(0.089113, 0.178226, 0.267339))

filter_a.set(Vector3d(1, 2, 3))
self.assertEqual(filter_a.value(), Vector3d(1, 2, 3))

def test_biquad(self):
filter_a = BiQuadd()
self.assertAlmostEqual(filter_a.value(), 0.0, delta=1e-10)
Expand All @@ -74,6 +84,8 @@ def test_biquad(self):

filter_a.fc(0.3, 1.4, 0.1)
self.assertAlmostEqual(filter_a.process(10.25), 0.96057152402651302)
self.assertAlmostEqual(filter_a.process(5.0), 2.2809792005709335)
self.assertAlmostEqual(filter_a.process(2.0), 2.2786852100645718)

filter_b = BiQuadd(4.3, 10.6)
self.assertAlmostEqual(filter_b.value(), 0.0, delta=1e-10)
Expand All @@ -93,6 +105,37 @@ def test_biquad_vector3(self):
self.assertEqual(filter_b.process(Vector3d(0.1, 20.3, 33.45)),
Vector3d(0.031748, 6.44475, 10.6196))

filter_a.set(Vector3d(4, 5, 6))
self.assertEqual(filter_a.value(), Vector3d(4, 5, 6))

filter_a.fc(0.5, 2.0)
self.assertEqual(filter_a.process(Vector3d(1.0, 2.0, 3.0)),
Vector3d(3.25, 4.25, 5.25))

filter_a.fc(0.5, 2.0, 0.2)
self.assertEqual(filter_a.process(Vector3d(1.0, 2.0, 3.0)),
Vector3d(19.0 / 7.0, 26.0 / 7.0, 33.0 / 7.0))

def test_template_types(self):
filter_f = OnePolef(0.6, 1.4)
self.assertAlmostEqual(filter_f.process(2.5), 2.330771, delta=1e-5)
filter_f.set(1.5)
self.assertAlmostEqual(filter_f.value(), 1.5)

filter_i = OnePolei(1, 2)
filter_i.set(10)
self.assertEqual(filter_i.value(), 10)

biquad_f = BiQuadf(4.3, 10.6)
self.assertAlmostEqual(biquad_f.value(), 0.0, delta=1e-6)
biquad_f.set(3.5)
self.assertAlmostEqual(biquad_f.value(), 3.5)

biquad_i = BiQuadi(1, 2)
biquad_i.set(20)
self.assertEqual(biquad_i.value(), 20)


if __name__ == '__main__':
unittest.main()

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