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Matrix: convert vector3 test to gtest

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This commit is contained in:
Matthias Grob 2022-02-23 15:12:57 +01:00
parent ddfd62dfc2
commit f4b53d2762
3 changed files with 90 additions and 61 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
vector3
)
add_custom_target(test_build)
@ -45,3 +44,4 @@ 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)
px4_add_unit_gtest(SRC MatrixVector3Test.cpp)

89
src/lib/matrix/test/MatrixVector3Test.cpp Normal file
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@ -0,0 +1,89 @@
/****************************************************************************
*
* 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(MatrixVector3Test, Vector3)
{
Vector3f a(1, 0, 0);
Vector3f b(0, 1, 0);
Vector3f c = a.cross(b);
EXPECT_EQ(c, Vector3f(0, 0, 1));
c = a % b;
EXPECT_EQ(c, Vector3f(0, 0, 1));
Matrix<float, 3, 1> d(c);
Vector3f e(d);
EXPECT_EQ(e, d);
float data[] = {4, 5, 6};
Vector3f f(data);
EXPECT_EQ(f, Vector3f(4, 5, 6));
EXPECT_EQ(a + b, Vector3f(1, 1, 0));
EXPECT_EQ(a - b, Vector3f(1, -1, 0));
EXPECT_FLOAT_EQ(a * b, 0.0f);
EXPECT_EQ(-a, Vector3f(-1, 0, 0));
EXPECT_EQ(a.unit(), a);
EXPECT_EQ(a.unit(), a.normalized());
EXPECT_EQ(a * 2.0, Vector3f(2, 0, 0));
Vector2f g2(1, 3);
Vector3f g3(7, 11, 17);
g3.xy() = g2;
EXPECT_EQ(g3, Vector3f(1, 3, 17));
const Vector3f g4(g3);
Vector2f g5 = g4.xy();
EXPECT_EQ(g5, g2);
EXPECT_EQ(g2, Vector2f(g4.xy()));
Vector3f h;
EXPECT_EQ(h, Vector3f(0, 0, 0));
Vector<float, 4> j;
j(0) = 1;
j(1) = 2;
j(2) = 3;
j(3) = 4;
Vector3f k = j.slice<3, 1>(0, 0);
Vector3f k_test(1, 2, 3);
EXPECT_EQ(k, k_test);
Vector3f m1(1, 2, 3);
Vector3f m2(3.1f, 4.1f, 5.1f);
EXPECT_EQ(m2, m1 + 2.1f);
EXPECT_EQ(m2 - 2.1f, m1);
}

60
src/lib/matrix/test/vector3.cpp
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@ -1,60 +0,0 @@
#include "test_macros.hpp"
#include <matrix/math.hpp>
using namespace matrix;
int main()
{
Vector3f a(1, 0, 0);
Vector3f b(0, 1, 0);
Vector3f c = a.cross(b);
TEST(isEqual(c, Vector3f(0, 0, 1)));
c = a % b;
TEST(isEqual(c, Vector3f(0, 0, 1)));
Matrix<float, 3, 1> d(c);
Vector3f e(d);
TEST(isEqual(e, d));
float data[] = {4, 5, 6};
Vector3f f(data);
TEST(isEqual(f, Vector3f(4, 5, 6)));
TEST(isEqual(a + b, Vector3f(1, 1, 0)));
TEST(isEqual(a - b, Vector3f(1, -1, 0)));
TEST(isEqualF(a * b, 0.0f));
TEST(isEqual(-a, Vector3f(-1, 0, 0)));
TEST(isEqual(a.unit(), a));
TEST(isEqual(a.unit(), a.normalized()));
TEST(isEqual(a * 2.0, Vector3f(2, 0, 0)));
Vector2f g2(1, 3);
Vector3f g3(7, 11, 17);
g3.xy() = g2;
TEST(isEqual(g3, Vector3f(1, 3, 17)));
const Vector3f g4(g3);
Vector2f g5 = g4.xy();
TEST(isEqual(g5, g2));
TEST(isEqual(g2, Vector2f(g4.xy())));
Vector3f h;
TEST(isEqual(h, Vector3f(0, 0, 0)));
Vector<float, 4> j;
j(0) = 1;
j(1) = 2;
j(2) = 3;
j(3) = 4;
Vector3f k = j.slice<3, 1>(0, 0);
Vector3f k_test(1, 2, 3);
TEST(isEqual(k, k_test));
Vector3f m1(1, 2, 3);
Vector3f m2(3.1f, 4.1f, 5.1f);
TEST(isEqual(m2, m1 + 2.1f));
TEST(isEqual(m2 - 2.1f, m1));
return 0;
}