diff --git a/ci/dockerfiles/ubuntu-16.04-complete b/ci/dockerfiles/ubuntu-16.04-complete
index 3d6605c055..24edcd5373 100644
--- a/ci/dockerfiles/ubuntu-16.04-complete
+++ b/ci/dockerfiles/ubuntu-16.04-complete
@@ -12,11 +12,11 @@ COPY ./ /root/scrimmage/
 WORKDIR /root
 
 # this is for openai gym
-# not installed as part of 3rd-party building 
+# not installed as part of 3rd-party building
 # so as not to confuse python environments
 # see here for installation commands:
 # https://github.com/openai/gym#installing-everything
-RUN apt-get update && apt-get install -y python3-pip python3-numpy python3-dev cmake zlib1g-dev libjpeg-dev xvfb libav-tools xorg-dev python3-opengl libboost-all-dev libsdl2-dev swig
+RUN apt-get update && apt-get install -y python3-pip python3-numpy python3-dev cmake lcov zlib1g-dev libjpeg-dev xvfb libav-tools xorg-dev python3-opengl libboost-all-dev libsdl2-dev swig
 RUN apt-get update && apt-get install -y git ninja-build
 RUN git clone https://github.com/openai/gym
 WORKDIR /root/gym
@@ -40,7 +40,7 @@ RUN mkdir -p ./3rd-party/build && \
 RUN cd /root/scrimmage/3rd-party/build/src/protobuf/python && \
     python3 setup.py build && python3 setup.py install
 
-# build 3rd party python grpc 
+# build 3rd party python grpc
 RUN cd /root/scrimmage/3rd-party/build/src/grpc && \
     pip3 install -rrequirements.txt && \
     GRPC_PYTHON_BUILD_WITH_CYTHON=1 python3 setup.py install
diff --git a/ci/dockerfiles/ubuntu-18.04 b/ci/dockerfiles/ubuntu-18.04
index 8002dba432..ef15e1931a 100644
--- a/ci/dockerfiles/ubuntu-18.04
+++ b/ci/dockerfiles/ubuntu-18.04
@@ -45,6 +45,7 @@ RUN apt-get update \
     libpython3.7-dev \
     doxygen python-sphinx \
     sphinx-rtd-theme-common \
+    lcov \
  && add-apt-repository ppa:kevin-demarco/scrimmage-bionic \
  && apt-get update \
  && apt-get install -y scrimmage-dependencies \
diff --git a/cmake/Modules/CodeCoverage.cmake b/cmake/Modules/CodeCoverage.cmake
new file mode 100644
index 0000000000..0c2a9d44a8
--- /dev/null
+++ b/cmake/Modules/CodeCoverage.cmake
@@ -0,0 +1,308 @@
+# Copyright (c) 2012 - 2017, Lars Bilke
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification,
+# are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software without
+#    specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# CHANGES:
+#
+# 2012-01-31, Lars Bilke
+# - Enable Code Coverage
+#
+# 2013-09-17, Joakim Söderberg
+# - Added support for Clang.
+# - Some additional usage instructions.
+#
+# 2016-02-03, Lars Bilke
+# - Refactored functions to use named parameters
+#
+# 2017-06-02, Lars Bilke
+# - Merged with modified version from github.com/ufz/ogs
+#
+#
+# USAGE:
+#
+# 1. Copy this file into your cmake modules path.
+#
+# 2. Add the following line to your CMakeLists.txt:
+#      include(CodeCoverage)
+#
+# 3. Append necessary compiler flags:
+#      APPEND_COVERAGE_COMPILER_FLAGS()
+#
+# 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
+#
+# 4. If you need to exclude additional directories from the report, specify them
+#    using the COVERAGE_LCOV_EXCLUDES variable before calling SETUP_TARGET_FOR_COVERAGE_LCOV.
+#    Example:
+#      set(COVERAGE_LCOV_EXCLUDES 'dir1/*' 'dir2/*')
+#
+# 5. Use the functions described below to create a custom make target which
+#    runs your test executable and produces a code coverage report.
+#
+# 6. Build a Debug build:
+#      cmake -DCMAKE_BUILD_TYPE=Debug ..
+#      make
+#      make my_coverage_target
+#
+
+include(CMakeParseArguments)
+
+# Check prereqs
+find_program( GCOV_PATH gcov )
+find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
+find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
+find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
+find_package(Python COMPONENTS Interpreter)
+
+if(NOT GCOV_PATH)
+    message(FATAL_ERROR "gcov not found! Aborting...")
+endif() # NOT GCOV_PATH
+
+if("${CMAKE_CXX_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
+    if("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS 3)
+        message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
+    endif()
+elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
+    message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
+endif()
+
+set(COVERAGE_COMPILER_FLAGS "-g --coverage -fprofile-arcs -ftest-coverage"
+    CACHE INTERNAL "")
+
+set(CMAKE_CXX_FLAGS_COVERAGE
+    ${COVERAGE_COMPILER_FLAGS}
+    CACHE STRING "Flags used by the C++ compiler during coverage builds."
+    FORCE )
+set(CMAKE_C_FLAGS_COVERAGE
+    ${COVERAGE_COMPILER_FLAGS}
+    CACHE STRING "Flags used by the C compiler during coverage builds."
+    FORCE )
+set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
+    ""
+    CACHE STRING "Flags used for linking binaries during coverage builds."
+    FORCE )
+set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
+    ""
+    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
+    FORCE )
+mark_as_advanced(
+    CMAKE_CXX_FLAGS_COVERAGE
+    CMAKE_C_FLAGS_COVERAGE
+    CMAKE_EXE_LINKER_FLAGS_COVERAGE
+    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
+
+if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
+endif() # NOT CMAKE_BUILD_TYPE STREQUAL "Debug"
+
+if(CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    link_libraries(gcov)
+else()
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+endif()
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# SETUP_TARGET_FOR_COVERAGE_LCOV(
+#     NAME testrunner_coverage                    # New target name
+#     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES testrunner                     # Dependencies to build first
+# )
+function(SETUP_TARGET_FOR_COVERAGE_LCOV)
+
+    set(options NONE)
+    set(oneValueArgs NAME)
+    set(multiValueArgs EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT LCOV_PATH)
+        message(FATAL_ERROR "lcov not found! Aborting...")
+    endif() # NOT LCOV_PATH
+
+    if(NOT GENHTML_PATH)
+        message(FATAL_ERROR "genhtml not found! Aborting...")
+    endif() # NOT GENHTML_PATH
+
+    # Setup target
+    add_custom_target(${Coverage_NAME}
+
+        # Cleanup lcov
+        COMMAND ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . --zerocounters
+        # Create baseline to make sure untouched files show up in the report
+        COMMAND ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -o ${Coverage_NAME}.base
+
+        # Run tests
+        COMMAND ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
+
+        # Capturing lcov counters and generating report
+        COMMAND ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . --capture --output-file ${Coverage_NAME}.info
+        # add baseline counters
+        COMMAND ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base -a ${Coverage_NAME}.info --output-file ${Coverage_NAME}.total
+        COMMAND ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove ${Coverage_NAME}.total ${COVERAGE_LCOV_EXCLUDES} --output-file ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned
+        COMMAND ${GENHTML_PATH} ${Coverage_GENHTML_ARGS} -o ${Coverage_NAME} ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned
+        COMMAND ${CMAKE_COMMAND} -E remove ${Coverage_NAME}.base ${Coverage_NAME}.total ${PROJECT_BINARY_DIR}/${Coverage_NAME}.info.cleaned
+
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
+    )
+
+    # Show where to find the lcov info report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
+    )
+
+    # Show info where to find the report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
+    )
+
+endfunction() # SETUP_TARGET_FOR_COVERAGE_LCOV
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# SETUP_TARGET_FOR_COVERAGE_GCOVR_XML(
+#     NAME ctest_coverage                    # New target name
+#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES executable_target         # Dependencies to build first
+# )
+function(SETUP_TARGET_FOR_COVERAGE_GCOVR_XML)
+
+    set(options NONE)
+    set(oneValueArgs NAME)
+    set(multiValueArgs EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT Python_FOUND)
+        message(FATAL_ERROR "python not found! Aborting...")
+    endif()
+
+    if(NOT GCOVR_PATH)
+        message(FATAL_ERROR "gcovr not found! Aborting...")
+    endif() # NOT GCOVR_PATH
+
+    # Combine excludes to several -e arguments
+    set(GCOVR_EXCLUDES "")
+    foreach(EXCLUDE ${COVERAGE_GCOVR_EXCLUDES})
+        string(REPLACE "*" "\\*" EXCLUDE_REPLACED ${EXCLUDE})
+        list(APPEND GCOVR_EXCLUDES "-e")
+        list(APPEND GCOVR_EXCLUDES "${EXCLUDE_REPLACED}")
+    endforeach()
+
+    add_custom_target(${Coverage_NAME}
+        # Run tests
+        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
+
+        # Running gcovr
+        COMMAND ${GCOVR_PATH} --xml
+            -r ${PROJECT_SOURCE_DIR} ${GCOVR_EXCLUDES}
+            --object-directory=${PROJECT_BINARY_DIR}
+            -o ${Coverage_NAME}.xml
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        COMMENT "Running gcovr to produce Cobertura code coverage report."
+    )
+
+    # Show info where to find the report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
+    )
+
+endfunction() # SETUP_TARGET_FOR_COVERAGE_GCOVR_XML
+
+# Defines a target for running and collection code coverage information
+# Builds dependencies, runs the given executable and outputs reports.
+# NOTE! The executable should always have a ZERO as exit code otherwise
+# the coverage generation will not complete.
+#
+# SETUP_TARGET_FOR_COVERAGE_GCOVR_HTML(
+#     NAME ctest_coverage                    # New target name
+#     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+#     DEPENDENCIES executable_target         # Dependencies to build first
+# )
+function(SETUP_TARGET_FOR_COVERAGE_GCOVR_HTML)
+
+    set(options NONE)
+    set(oneValueArgs NAME)
+    set(multiValueArgs EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
+    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT Python_FOUND)
+        message(FATAL_ERROR "python not found! Aborting...")
+    endif()
+
+    if(NOT GCOVR_PATH)
+        message(FATAL_ERROR "gcovr not found! Aborting...")
+    endif() # NOT GCOVR_PATH
+
+    # Combine excludes to several -e arguments
+    set(GCOVR_EXCLUDES "")
+    foreach(EXCLUDE ${COVERAGE_GCOVR_EXCLUDES})
+        string(REPLACE "*" "\\*" EXCLUDE_REPLACED ${EXCLUDE})
+        list(APPEND GCOVR_EXCLUDES "-e")
+        list(APPEND GCOVR_EXCLUDES "${EXCLUDE_REPLACED}")
+    endforeach()
+
+    add_custom_target(${Coverage_NAME}
+        # Run tests
+        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
+
+        # Create folder
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
+
+        # Running gcovr
+        COMMAND ${Python_EXECUTABLE} ${GCOVR_PATH} --html --html-details
+            -r ${PROJECT_SOURCE_DIR} ${GCOVR_EXCLUDES}
+            --object-directory=${PROJECT_BINARY_DIR}
+            -o ${Coverage_NAME}/index.html
+        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
+        DEPENDS ${Coverage_DEPENDENCIES}
+        COMMENT "Running gcovr to produce HTML code coverage report."
+    )
+
+    # Show info where to find the report
+    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
+        COMMAND ;
+        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
+    )
+
+endfunction() # SETUP_TARGET_FOR_COVERAGE_GCOVR_HTML
+
+function(APPEND_COVERAGE_COMPILER_FLAGS)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
+    message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
+endfunction() # APPEND_COVERAGE_COMPILER_FLAGS
+
diff --git a/setup/install-binaries.sh b/setup/install-binaries.sh
index 1c93921cef..80849e55d0 100755
--- a/setup/install-binaries.sh
+++ b/setup/install-binaries.sh
@@ -36,7 +36,7 @@ usage()
 {
     cat << EOF
 usage: sudo $0 -e
-This script installs all required dependencies. 
+This script installs all required dependencies.
 
 OPTIONS
 
@@ -46,7 +46,7 @@ OPTIONS
         installation.
 
     --python <number>
-        install dependencies for python version <number>. This will install 
+        install dependencies for python version <number>. This will install
         dependencies from apt for this version of python (e.g.,
         apt install python<number>-numpy). Options are "2, 3, a"
         with "a" installing dependencies for both python 2 and 3.
@@ -63,6 +63,7 @@ DEPS_DPKG=(
     sudo
     git
     cmake
+    lcov
     gcc
     build-essential
     librapidxml-dev
@@ -101,7 +102,7 @@ if [[ "$1" = "--python" ]]; then
     PYTHON_VERSION="$2"
 elif  [[ "$3" = "--python" ]]; then
     PYTHON_VERSION="$4"
-fi 
+fi
 
 if [[ "$PYTHON_VERSION" = "2" ]] || [[ "$PYTHON_VERSION" = "a" ]]; then
     DEPS_DPKG+=(
@@ -117,7 +118,7 @@ if [[ "$PYTHON_VERSION" = "2" ]] || [[ "$PYTHON_VERSION" = "a" ]]; then
     )
 fi
 
-if [[ "$PYTHON_VERSION" -eq "3" ]] || [[ "$PYTHON_VERSION" = "a" ]]; then 
+if [[ "$PYTHON_VERSION" -eq "3" ]] || [[ "$PYTHON_VERSION" = "a" ]]; then
     DEPS_DPKG+=(
         python3
         python3-setuptools
@@ -254,8 +255,8 @@ fi
 ########################
 if [[ "$PYTHON_VERSION" = "2" ]] || [[ "$PYTHON_VERSION" = "a" ]]; then
     pip install sphinx-git sphinx_rtd_theme pydoe tqdm
-fi 
+fi
 
 if [[ "$PYTHON_VERSION" = "3" ]] || [[ "$PYTHON_VERSION" = "a" ]]; then
     pip3 install sphinx-git sphinx_rtd_theme pydoe tqdm
-fi 
+fi
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 7213a1ab39..a4d6ceadac 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,3 +1,6 @@
+set(test_list "")
+include(CodeCoverage)
+APPEND_COVERAGE_COMPILER_FLAGS()
 set(test_files
     test_algorithms.cpp
     test_angles.cpp
@@ -33,6 +36,7 @@ endif()
 foreach(test_file ${test_files})
   get_filename_component(test_name ${test_file} NAME_WE)
   add_executable(${test_name} ${test_file})
+
   AddExternalTarget(${test_name} EXTERNAL_PROJECT_GTEST )
   add_dependencies(${test_name} scrimmage-core)
   target_link_libraries(${test_name}
@@ -44,4 +48,25 @@ foreach(test_file ${test_files})
   endif()
 
   add_test(NAME ${test_name} COMMAND ${test_name})
+  list(APPEND test_list "${test_name}")
 endforeach()
+
+# Add test executable for all tests for coverage
+add_executable(test_all
+    ${test_files}
+)
+add_dependencies(test_all ${test_list} scrimmage-core)
+AddExternalTarget(test_all EXTERNAL_PROJECT_GTEST)
+target_link_libraries(test_all
+  gtest_main
+  scrimmage-core
+)
+if (ENABLE_PYTHON_BINDINGS)
+  target_link_libraries(test_all scrimmage-python)
+endif()
+
+SETUP_TARGET_FOR_COVERAGE_LCOV(
+  NAME test_coverage                        # New target name
+  EXECUTABLE test_all -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
+  DEPENDENCIES test_all scrimmage-core      # Dependencies to build first
+)
diff --git a/test/test_exponential_filter.cpp b/test/test_exponential_filter.cpp
index 82c86fbb03..060c770718 100644
--- a/test/test_exponential_filter.cpp
+++ b/test/test_exponential_filter.cpp
@@ -37,7 +37,7 @@
 
 namespace sc = scrimmage;
 
-TEST(test_quaternion, rotation) {
+TEST(test_exponential_filter, filter) {
     const std::vector<double> tau_vec {0.1, 1, 10};
     const double dt = 0.001;
 
diff --git a/test/test_find_mission.cpp b/test/test_find_mission.cpp
index e30f83d68b..a209d11585 100644
--- a/test/test_find_mission.cpp
+++ b/test/test_find_mission.cpp
@@ -37,7 +37,7 @@
 
 namespace sc = scrimmage;
 
-TEST(test_angles, rotation) {
+TEST(test_find_mission, straight) {
     const std::string mission = "straight";
     auto res = sc::FileSearch().find_mission(mission, true);
     bool success = res ? true : false;