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ControlMathTest: switch back to direct EXPECT_EQ calls for Vectors

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Since the google test calls matrix::operator==()
which calls matrix::isEqual().
This commit is contained in:
Matthias Grob 2019-12-26 10:20:41 +01:00 committed by Lorenz Meier
parent d5100b10dc
commit ad148fdfad
1 changed files with 9 additions and 9 deletions
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18
src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
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@ -135,45 +135,45 @@ TEST(ControlMathTest, CrossSphereLine)
// on line, near, before previous waypoint
retval = cross_sphere_line(Vector3f(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
EXPECT_TRUE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 0.5f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 0.5f));
// on line, near, before target waypoint
retval = cross_sphere_line(Vector3f(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
EXPECT_TRUE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 2.f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
// on line, near, after target waypoint
retval = cross_sphere_line(Vector3f(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
EXPECT_TRUE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 2.f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
// near, before previous waypoint
retval = cross_sphere_line(Vector3f(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
EXPECT_TRUE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 0.366025388f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 0.366025388f));
// near, before target waypoint
retval = cross_sphere_line(Vector3f(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
EXPECT_TRUE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 1.866025448f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 1.866025448f));
// near, after target waypoint
retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
EXPECT_TRUE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 2.f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
// far, before previous waypoint
retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
EXPECT_FALSE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f()));
EXPECT_EQ(res, Vector3f());
// far, before target waypoint
retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
EXPECT_FALSE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 1.f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 1.f));
// far, after target waypoint
retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
EXPECT_FALSE(retval);
EXPECT_TRUE(matrix::isEqual(res, Vector3f(0.f, 0.f, 2.f)));
EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
}