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Matrix: convert vector2 test to gtest

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This commit is contained in:
Matthias Grob 2022-02-23 15:10:36 +01:00
parent be28aeb3ee
commit ddfd62dfc2
3 changed files with 68 additions and 40 deletions
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2
src/lib/matrix/test/CMakeLists.txt
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@ -8,7 +8,6 @@ add_compile_options(
set(tests
vectorAssignment
vector
vector2
vector3
)
@ -45,3 +44,4 @@ 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)
px4_add_unit_gtest(SRC MatrixVector2Test.cpp)

67
src/lib/matrix/test/MatrixVector2Test.cpp Normal file
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@ -0,0 +1,67 @@
/****************************************************************************
*
* 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(MatrixVector2Test, Vector2)
{
Vector2f a(1, 0);
Vector2f b(0, 1);
EXPECT_FLOAT_EQ(a % b, 1.f);
Vector2f c;
EXPECT_FLOAT_EQ(c(0), 0.f);
EXPECT_FLOAT_EQ(c(1), 0.f);
Matrix<float, 2, 1> d(a);
EXPECT_FLOAT_EQ(d(0, 0), 1.f);
EXPECT_FLOAT_EQ(d(1, 0), 0.f);
Vector2f e(d);
EXPECT_FLOAT_EQ(e(0), 1.f);
EXPECT_FLOAT_EQ(e(1), 0.f);
float data[] = {4, 5};
Vector2f f(data);
EXPECT_FLOAT_EQ(f(0), 4.f);
EXPECT_FLOAT_EQ(f(1), 5.f);
Vector3f g(1.23f, 423.4f, 3221.f);
Vector2f h(g);
EXPECT_FLOAT_EQ(h(0), 1.23f);
EXPECT_FLOAT_EQ(h(1), 423.4f);
}

39
src/lib/matrix/test/vector2.cpp
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@ -1,39 +0,0 @@
#include <matrix/math.hpp>
#include "test_macros.hpp"
using namespace matrix;
int main()
{
Vector2f a(1, 0);
Vector2f b(0, 1);
TEST(fabs(a % b - 1.0f) < FLT_EPSILON);
Vector2f c;
TEST(fabs(c(0) - 0) < FLT_EPSILON);
TEST(fabs(c(1) - 0) < FLT_EPSILON);
Matrix<float, 2, 1> d(a);
TEST(fabs(d(0, 0) - 1) < FLT_EPSILON);
TEST(fabs(d(1, 0) - 0) < FLT_EPSILON);
Vector2f e(d);
TEST(fabs(e(0) - 1) < FLT_EPSILON);
TEST(fabs(e(1) - 0) < FLT_EPSILON);
float data[] = {4, 5};
Vector2f f(data);
TEST(fabs(f(0) - 4) < FLT_EPSILON);
TEST(fabs(f(1) - 5) < FLT_EPSILON);
Vector3f g(1.23f, 423.4f, 3221.f);
Vector2f h(g);
TEST(fabs(h(0) - 1.23f) < FLT_EPSILON);
TEST(fabs(h(1) - 423.4f) < FLT_EPSILON);
return 0;
}