fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-12 04:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Matrix: convert copy to test to gtest

Browse Source
This commit is contained in:
Matthias Grob
2022-03-17 13:02:22 +01:00
parent 35b035e880
commit 62571b6984
3 changed files with 99 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/matrix/test/CMakeLists.txt
+1 -1
View File
@@ -21,7 +21,6 @@ set(tests
squareMatrix
helper
hatvee
copyto
least_squares
upperRightTriangle
dual
@@ -43,5 +42,6 @@ endforeach()
px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)
px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
src/lib/matrix/test/MatrixCopyToTest.cpp
+98
View File
@@ -0,0 +1,98 @@
/****************************************************************************
*
* 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(MatrixCopyToTest, CopyTo)
{
// Vector3 copyTo
const Vector3f v(1, 2, 3);
float dst3[3] = {};
v.copyTo(dst3);
for (size_t i = 0; i < 3; i++) {
EXPECT_FLOAT_EQ(v(i), dst3[i]);
}
// Quaternion copyTo
Quatf q(1, 2, 3, 4);
float dst4[4] = {};
q.copyTo(dst4);
for (size_t i = 0; i < 4; i++) {
EXPECT_FLOAT_EQ(q(i), dst4[i]);
}
// 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++) {
EXPECT_FLOAT_EQ(array_A[i], array_row[i]);
}
// Matrix copyToColumnMajor
A.copyToColumnMajor(array_A);
float array_column[6] = {1, 4, 2, 5, 3, 6};
for (size_t i = 0; i < 6; i++) {
EXPECT_FLOAT_EQ(array_A[i], array_column[i]);
}
// Slice copyTo
float dst5[2] = {};
v.slice<2, 1>(0, 0).copyTo(dst5);
for (size_t i = 0; i < 2; i++) {
EXPECT_FLOAT_EQ(v(i), dst5[i]);
}
float subarray_A[4] = {};
A.slice<2, 2>(0, 0).copyToColumnMajor(subarray_A);
float subarray_column[4] = {1, 4, 2, 5};
for (size_t i = 0; i < 4; i++) {
EXPECT_FLOAT_EQ(subarray_A[i], subarray_column[i]);
}
}
src/lib/matrix/test/copyto.cpp
-78
View File
@@ -1,78 +0,0 @@
#include "test_macros.hpp"
#include <matrix/math.hpp>
using namespace matrix;
namespace
{
void doTheCopy(const Matrix<float, 2, 3> &A, float array_A[6])
{
A.copyTo(array_A);
}
}
int main()
{
float eps = 1e-6f;
// Vector3 copyTo
const 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] = {};
doTheCopy(A, 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);
}
// Slice copyTo
float dst5[2] = {};
v.slice<2, 1>(0, 0).copyTo(dst5);
for (size_t i = 0; i < 2; i++) {
TEST(fabs(v(i) - dst5[i]) < eps);
}
float subarray_A[4] = {};
A.slice<2, 2>(0, 0).copyToColumnMajor(subarray_A);
float subarray_column[4] = {1, 4, 2, 5};
for (size_t i = 0; i < 4; i++) {
TEST(fabs(subarray_A[i] - subarray_column[i]) < eps);
}
return 0;
}