From 4a6369cee578e703d9f4103c17a383896e19cd52 Mon Sep 17 00:00:00 2001
From: jgoppert <james.goppert@gmail.com>
Date: Thu, 5 Nov 2015 18:07:05 -0500
Subject: [PATCH] More coverage testing.

---
 test/attitude.cpp         |  6 ++++++
 test/inverse.cpp          | 15 +++++++++------
 test/matrixAssignment.cpp | 20 ++++++++++++++++++++
 test/test_data.py         |  3 ++-
 4 files changed, 37 insertions(+), 7 deletions(-)

diff --git a/test/attitude.cpp b/test/attitude.cpp
index 5ce509701b..5ce3c45b4a 100644
--- a/test/attitude.cpp
+++ b/test/attitude.cpp
@@ -125,6 +125,12 @@ int main()
     Vector<float, 4> q_dot = q.derivative(Vector3f(1, 2, 3));
     printf("q_dot:\n");
     q_dot.T().print();
+
+    // quaternion product
+    Quatf q_prod_check(
+            0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
+    assert(q_prod_check == q_check*q_check);
+
 };
 
 /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
diff --git a/test/inverse.cpp b/test/inverse.cpp
index 5cffe7c808..7a438d0859 100644
--- a/test/inverse.cpp
+++ b/test/inverse.cpp
@@ -12,21 +12,21 @@ template class SquareMatrix<float, n_large>;
 
 int main()
 {
-    float data[9] = {1, 2, 3,
+    float data[9] = {0, 2, 3,
                      4, 5, 6,
                      7, 8, 10
                     };
-    float data_check[9] = {-0.66666667f, -1.33333333f,  1.        ,
-                           -0.66666667f,  3.66666667f, -2.        ,
-                           1.        , -2.        ,  1.
-                          };
+    float data_check[9] = {
+        -0.4f, -0.8f,  0.6f,
+        -0.4f,  4.2f, -2.4f,
+        0.6f, -2.8f,  1.6f};
 
     SquareMatrix<float, 3> A(data);
     SquareMatrix<float, 3> A_I = inv(A);
     SquareMatrix<float, 3> A_I_check(data_check);
     A_I.print();
     A_I_check.print();
-    assert(A_I == A_I_check);
+    assert((A_I - A_I_check).abs().max() < 1e-5);
 
     // stess test
     SquareMatrix<float, n_large> A_large;
@@ -39,6 +39,9 @@ int main()
         assert(A_large == A_large_I);
     }
 
+    SquareMatrix<float, 3> zero_test = zero<float, 3, 3>();
+    inv(zero_test);
+
     return 0;
 }
 
diff --git a/test/matrixAssignment.cpp b/test/matrixAssignment.cpp
index 635d0291e8..6083a92554 100644
--- a/test/matrixAssignment.cpp
+++ b/test/matrixAssignment.cpp
@@ -51,6 +51,26 @@ int main()
 
     assert(m3 == m2);
 
+    float data_row_02_swap[9] = {
+        7, 8, 9,
+        4, 5, 6,
+        1, 2, 3,
+    };
+
+    float data_col_02_swap[9] = {
+        3, 2, 1,
+        6, 5, 4,
+        9, 8, 7};
+
+    Matrix3f m4(data);
+
+
+    m4.swapCols(0, 2);
+    assert(m4 == Matrix3f(data_col_02_swap));
+    m4.swapCols(0, 2);
+    m4.swapRows(0, 2);
+    assert(m4 == Matrix3f(data_row_02_swap));
+    assert(fabs(m4.min() - 1) < 1e-5);
     return 0;
 }
 
diff --git a/test/test_data.py b/test/test_data.py
index f6da657d98..0ae4e958ae 100644
--- a/test/test_data.py
+++ b/test/test_data.py
@@ -90,6 +90,7 @@ assert(abs(dcm[:,0].dot(dcm[:,2])) < 1e-10)
 print('\ndcm:')
 pprint(dcm)
 
+print('\nq*q', quat_prod(q, q))
 
 q2 = quat_prod(q, q)
 pprint(q2)
@@ -103,7 +104,7 @@ q3_norm =q3 / norm(q3)
 pprint(q3_norm)
 
 print('\ninverse')
-A = array([[1,2,3], [4,5,6], [7,8,10]])
+A = array([[0,2,3], [4,5,6], [7,8,10]])
 pprint(A)
 pprint(inv(A))