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Testing One-Dimensional Kalman Filter Implementation in openpilot

This test suite validates the implementation of a one-dimensional Kalman filter (KF1D) in the openpilot system. It focuses on testing the initialization, state updates, and basic getter/setter functionality of the Kalman filter implementation.

Test Coverage Overview

The test coverage focuses on fundamental Kalman filter operations and state management.

Initialization testing with specific matrix parameters
Getter/setter functionality validation
State update verification
Matrix operations and transformations

Implementation Analysis

The testing approach employs pytest fixtures through setup_method to establish a consistent Kalman filter instance for each test. The implementation uses matrix-based initialization and validates state transformations through precise numerical comparisons.

Setup method configures initial state and transformation matrices
Direct state manipulation tests
Update method validation

Technical Details

Testing Framework: pytest
Key Classes: KF1D (One-dimensional Kalman Filter)
Matrix Operations: 2×2 state transition matrix
Test Configuration: Predefined coefficients for filter parameters
Precision: Float-point comparisons for state validation

Best Practices Demonstrated

The test suite demonstrates strong testing practices through isolated test cases and proper setup management.

Clean test initialization through setup_method
Isolated state validation
Clear test case separation
Explicit assertion statements
Consistent matrix handling

commaai/openpilot

common/tests/test_simple_kalman.py

            
from openpilot.common.simple_kalman import KF1D


class TestSimpleKalman:
  def setup_method(self):
    dt = 0.01
    x0_0 = 0.0
    x1_0 = 0.0
    A0_0 = 1.0
    A0_1 = dt
    A1_0 = 0.0
    A1_1 = 1.0
    C0_0 = 1.0
    C0_1 = 0.0
    K0_0 = 0.12287673
    K1_0 = 0.29666309

    self.kf = KF1D(x0=[[x0_0], [x1_0]],
                   A=[[A0_0, A0_1], [A1_0, A1_1]],
                   C=[C0_0, C0_1],
                   K=[[K0_0], [K1_0]])

  def test_getter_setter(self):
    self.kf.set_x([[1.0], [1.0]])
    assert self.kf.x == [[1.0], [1.0]]

  def update_returns_state(self):
    x = self.kf.update(100)
    assert x == self.kf.x