From be28aeb3ee9da7b0a483eb5be6c935321fca59aa Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 23 Feb 2022 15:07:35 +0100
Subject: [PATCH] Matrix: convert upper right triangle test to gtest

---
 src/lib/matrix/test/CMakeLists.txt            |  2 +-
 .../test/MatrixUpperRightTriangleTest.cpp     | 52 +++++++++++++++++++
 src/lib/matrix/test/upperRightTriangle.cpp    | 22 --------
 3 files changed, 53 insertions(+), 23 deletions(-)
 create mode 100644 src/lib/matrix/test/MatrixUpperRightTriangleTest.cpp
 delete mode 100644 src/lib/matrix/test/upperRightTriangle.cpp

diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index c87679d9bb..9a5ed9418a 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -10,7 +10,6 @@ set(tests
     vector
     vector2
     vector3
-    upperRightTriangle
 )
 
 add_custom_target(test_build)
@@ -45,3 +44,4 @@ px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixSquareTest.cpp)
 px4_add_unit_gtest(SRC MatrixTransposeTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
+px4_add_unit_gtest(SRC MatrixUpperRightTriangleTest.cpp)
diff --git a/src/lib/matrix/test/MatrixUpperRightTriangleTest.cpp b/src/lib/matrix/test/MatrixUpperRightTriangleTest.cpp
new file mode 100644
index 0000000000..a2fb02f0db
--- /dev/null
+++ b/src/lib/matrix/test/MatrixUpperRightTriangleTest.cpp
@@ -0,0 +1,52 @@
+/****************************************************************************
+ *
+ *   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(MatrixUpperRightTriangleTest, UpperRightTriangle)
+{
+	float data[9] = {1, 2, 3,
+			 4, 5, 6,
+			 7, 8, 10
+			};
+	float urt[6] = {1, 2, 3, 5, 6, 10};
+
+	SquareMatrix<float, 3> A(data);
+
+	for (size_t i = 0; i < 6; i++) {
+		EXPECT_FLOAT_EQ(urt[i], A.upper_right_triangle()(i));
+	}
+}
diff --git a/src/lib/matrix/test/upperRightTriangle.cpp b/src/lib/matrix/test/upperRightTriangle.cpp
deleted file mode 100644
index 0aa2333386..0000000000
--- a/src/lib/matrix/test/upperRightTriangle.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	float data[9] = {1, 2, 3,
-			 4, 5, 6,
-			 7, 8, 10
-			};
-	float urt[6] = {1, 2, 3, 5, 6, 10};
-
-	SquareMatrix<float, 3> A(data);
-
-	for (size_t i = 0; i < 6; i++) {
-		TEST(fabs(urt[i] - A.upper_right_triangle()(i)) < FLT_EPSILON);
-	}
-
-	return 0;
-}
-