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Using proper float comparison everywhere

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This commit is contained in:
Pavel Kirienko
2014-08-27 19:13:45 +04:00
parent 6446d05446
commit 61c4f89ea3
6 changed files with 111 additions and 14 deletions
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libuavcan/test/marshal/array.cpp
+42
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@@ -1014,6 +1014,48 @@ TEST(Array, SquareMatrixPacking)
}
TEST(Array, FuzzySquareMatrixPacking)
{
Array<FloatSpec<64, CastModeSaturate>, ArrayModeDynamic, 36> m6x6d;
// Diagonal matrix will be reduced to an array of length Width
{
float diagonal6x6[] =
{
1, 0, 0, 0, 0, 0,
0, -2, 0, 0, 0, 0,
0, 0, 3, 0, 0, 0,
0, 0, 0, -4, 0, 0,
0, 0, 0, 0, 5, 0,
0, 0, 0, 0, 0, -6
};
// Some almost-zeroes
diagonal6x6[1] = std::numeric_limits<float>::epsilon();
diagonal6x6[4] = -std::numeric_limits<float>::epsilon();
diagonal6x6[34] = -std::numeric_limits<float>::epsilon();
m6x6d.packSquareMatrix(diagonal6x6);
ASSERT_EQ(6, m6x6d.size());
ASSERT_FLOAT_EQ(1, m6x6d[0]);
ASSERT_FLOAT_EQ(-2, m6x6d[1]);
ASSERT_FLOAT_EQ(3, m6x6d[2]);
ASSERT_FLOAT_EQ(-4, m6x6d[3]);
ASSERT_FLOAT_EQ(5, m6x6d[4]);
ASSERT_FLOAT_EQ(-6, m6x6d[5]);
std::vector<long double> output(36);
m6x6d.unpackSquareMatrix(output);
// This comparison will fail because epsilons
ASSERT_FALSE(std::equal(output.begin(), output.end(), diagonal6x6));
// This comparison will be ok
ASSERT_TRUE(std::equal(output.begin(), output.end(), diagonal6x6, &uavcan::areClose<float, float>));
}
}
TEST(Array, SquareMatrixPackingIntegers)
{
Array<IntegerSpec<30, SignednessSigned, CastModeSaturate>, ArrayModeDynamic, 9> m3x3int;