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Matrix: convert hat vee test to gtest

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This commit is contained in:
Matthias Grob 2022-02-23 14:50:25 +01:00
parent 8f695a5613
commit 0c4c3a917c
3 changed files with 50 additions and 19 deletions
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2
src/lib/matrix/test/CMakeLists.txt
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@ -19,7 +19,6 @@ set(tests
integration
squareMatrix
helper
hatvee
least_squares
upperRightTriangle
pseudoInverse
@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
px4_add_unit_gtest(SRC MatrixDualTest.cpp)
px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

49
src/lib/matrix/test/MatrixHatveeTest.cpp Normal file
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@ -0,0 +1,49 @@
/****************************************************************************
*
* Copyright (C) 2022 PX4 Development Team. 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 PX4 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 OWNER 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.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <matrix/math.hpp>
using namespace matrix;
TEST(MatrixHatveeTest, Hatvee)
{
Euler<float> euler(0.1f, 0.2f, 0.3f);
Dcm<float> R(euler);
Dcm<float> skew = R - R.T();
Vector3<float> w = skew.vee();
Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
EXPECT_EQ(w, w_check);
EXPECT_EQ(skew, w.hat());
}

18
src/lib/matrix/test/hatvee.cpp
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@ -1,18 +0,0 @@
#include "test_macros.hpp"
#include <matrix/math.hpp>
using namespace matrix;
int main()
{
Euler<float> euler(0.1f, 0.2f, 0.3f);
Dcm<float> R(euler);
Dcm<float> skew = R - R.T();
Vector3<float> w = skew.vee();
Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
TEST(isEqual(w, w_check));
TEST(isEqual(skew, w.hat()));
return 0;
}