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Matrix: convert set identity test to gtest

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This commit is contained in:
Matthias Grob 2022-02-23 15:03:05 +01:00
parent 831f0e9aac
commit 46df8ab60c
3 changed files with 69 additions and 39 deletions
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2
src/lib/matrix/test/CMakeLists.txt
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@ -6,7 +6,6 @@ add_compile_options(
)
set(tests
setIdentity
slice
vectorAssignment
transpose
@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixLeastSquaresTest.cpp)
px4_add_unit_gtest(SRC MatrixMultiplicationTest.cpp)
px4_add_unit_gtest(SRC MatrixPseudoInverseTest.cpp)
px4_add_unit_gtest(SRC MatrixScalarMultiplicationTest.cpp)
px4_add_unit_gtest(SRC MatrixSetIdentityTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

68
src/lib/matrix/test/MatrixSetIdentityTest.cpp Normal file
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@ -0,0 +1,68 @@
/****************************************************************************
*
* 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(MatrixSetIdentityTest, SetIdentity)
{
Matrix3f A;
A.setIdentity();
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
if (i == j) {
EXPECT_FLOAT_EQ(A(i, j), 1);
} else {
EXPECT_FLOAT_EQ(A(i, j), 0);
}
}
}
Matrix3f B;
B.identity();
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
if (i == j) {
EXPECT_FLOAT_EQ(B(i, j), 1);
} else {
EXPECT_FLOAT_EQ(B(i, j), 0);
}
}
}
}

38
src/lib/matrix/test/setIdentity.cpp
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@ -1,38 +0,0 @@
#include "test_macros.hpp"
#include <matrix/math.hpp>
using namespace matrix;
int main()
{
Matrix3f A;
A.setIdentity();
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
if (i == j) {
TEST(fabs(A(i, j) - 1) < FLT_EPSILON);
} else {
TEST(fabs(A(i, j) - 0) < FLT_EPSILON);
}
}
}
Matrix3f B;
B.identity();
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
if (i == j) {
TEST(fabs(B(i, j) - 1) < FLT_EPSILON);
} else {
TEST(fabs(B(i, j) - 0) < FLT_EPSILON);
}
}
}
return 0;
}