Tests for magnetic compensation (ellipsoid) - #487
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Tested in ROS environment and found two bugs: - ellipsoid.py doesn't verify if it's coplanar or not and the z component is determined through floating point rounding errors instead of being consistent, so the two BLAS don't output the same. - fit_ellipsoid would accept fewer than 9 points and return a bad calibration. Added fixes for both
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Summary
Adds test coverage for the magnetic compensation driver, including a new
ellipsoidmodule and accompanying unit tests. Rebased on top of the latestmain.Changes
ellipsoid.pyfor ellipsoid-fit magnetic compensationtest_ellipsoid.pycovering the ellipsoid fitting/compensation logictest_param_validation.pyfor parameter validationtest_compensator.cppfor the C++ compensatortest_basic_shift.pycoveragescripts/generate_config.pyand relatedCMakeLists.txt/package.xmlNotes
This replaces the previous
magnetic-compensation-testsbranch/PR with anupdated branch that includes the latest changes from
main.