Test: added copyTo tests for Vector3, Quaternion and Matrix including clolumn-major order

.gitignore

@@ -14,6 +14,7 @@ Makefile
 test/attitude
 test/cmake_install.cmake
 test/CMakeFiles/
+test/copyto
 test/coverage.info
 test/CTestTestfile.cmake
 test/filter

test/CMakeLists.txt

@@ -16,6 +16,7 @@ set(tests
 	squareMatrix
 	helper
 	hatvee
+	copyto
 	)
 
 add_custom_target(test_build)

test/attitude.cpp

@@ -334,16 +334,6 @@ int main()
     R = Dcmf(q);
     TEST(isEqual(q, Quatf(R)));
 
-
-    // Quaternion copyTo
-    q = Quatf(1, 2, 3, 4);
-    float dst[4] = {};
-    q.copyTo(dst);
-    TEST(fabs(q(0) - dst[0]) < eps);
-    TEST(fabs(q(1) - dst[1]) < eps);
-    TEST(fabs(q(2) - dst[2]) < eps);
-    TEST(fabs(q(3) - dst[3]) < eps);
-
     return 0;
 }
 

test/copyto.cpp

@@ -0,0 +1,51 @@
+#include "test_macros.hpp"
+#include <matrix/math.hpp>
+
+using namespace matrix;
+
+int main()
+{
+    float eps = 1e-6f;
+
+    // Vector3 copyTo
+    Vector3f v(1, 2, 3);
+    float dst3[3] = {};
+    v.copyTo(dst3);
+    for (size_t i = 0; i < 3; i++) {
+        TEST(fabs(v(i) - dst3[i]) < eps);
+    }
+
+    // Quaternion copyTo
+    Quatf q(1, 2, 3, 4);
+    float dst4[4] = {};
+    q.copyTo(dst4);
+    for (size_t i = 0; i < 4; i++) {
+        TEST(fabs(q(i) - dst4[i]) < eps);
+    }
+
+    // Matrix copyTo
+    Matrix<float, 2, 3> A;
+    A(0,0) = 1;
+    A(0,1) = 2;
+    A(0,2) = 3;
+    A(1,0) = 4;
+    A(1,1) = 5;
+    A(1,2) = 6;
+    float array_A[6] = {};
+    A.copyTo(array_A);
+    float array_row[6] = {1, 2, 3, 4, 5, 6};
+    for (size_t i = 0; i < 6; i++) {
+        TEST(fabs(array_A[i] - array_row[i]) < eps);
+    }
+
+    // Matrix copyToColumnMajor
+    A.copyToColumnMajor(array_A);
+    float array_column[6] = {1, 4, 2, 5, 3, 6};
+    for (size_t i = 0; i < 6; i++) {
+        TEST(fabs(array_A[i] - array_column[i]) < eps);
+    }
+
+    return 0;
+}
+
+/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */