Matrix: change naming of sparse vector test

src/lib/matrix/test/CMakeLists.txt

@@ -43,5 +43,5 @@ foreach(test_name ${tests})
     add_dependencies(test_results test-matrix_${test_name})
 endforeach()
 
-px4_add_unit_gtest(SRC sparseVector.cpp)
+px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
-px4_add_unit_gtest(SRC unwrap.cpp)
+px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

src/lib/matrix/test/MatrixSparseVectorTest.cpp

@@ -1,9 +1,42 @@
-#include <matrix/math.hpp>
+/****************************************************************************
+ *
+ *   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(sparseVectorTest, defaultConstruction)
+TEST(MatrixSparseVectorTest, defaultConstruction)
 {
 	SparseVectorf<24, 4, 6> a;
 	EXPECT_EQ(a.non_zeros(), 2);
@@ -13,7 +46,7 @@ TEST(sparseVectorTest, defaultConstruction)
 	a.at<6>() = 2.f;
 }
 
-TEST(sparseVectorTest, initializationWithData)
+TEST(MatrixSparseVectorTest, initializationWithData)
 {
 	const float data[3] = {1.f, 2.f, 3.f};
 	SparseVectorf<24, 4, 6, 22> a(data);
@@ -26,7 +59,7 @@ TEST(sparseVectorTest, initializationWithData)
 	EXPECT_FLOAT_EQ(a.at<22>(), data[2]);
 }
 
-TEST(sparseVectorTest, initialisationFromVector)
+TEST(MatrixSparseVectorTest, initialisationFromVector)
 {
 	const Vector3f vec(1.f, 2.f, 3.f);
 	const SparseVectorf<3, 0, 2> a(vec);
@@ -34,7 +67,7 @@ TEST(sparseVectorTest, initialisationFromVector)
 	EXPECT_FLOAT_EQ(a.at<2>(), vec(2));
 }
 
-TEST(sparseVectorTest, accessDataWithCompressedIndices)
+TEST(MatrixSparseVectorTest, accessDataWithCompressedIndices)
 {
 	const Vector3f vec(1.f, 2.f, 3.f);
 	SparseVectorf<3, 0, 2> a(vec);
@@ -47,7 +80,7 @@ TEST(sparseVectorTest, accessDataWithCompressedIndices)
 	EXPECT_FLOAT_EQ(a.at<2>(), a.atCompressedIndex(1));
 }
 
-TEST(sparseVectorTest, setZero)
+TEST(MatrixSparseVectorTest, setZero)
 {
 	const float data[3] = {1.f, 2.f, 3.f};
 	SparseVectorf<24, 4, 6, 22> a(data);
@@ -57,7 +90,7 @@ TEST(sparseVectorTest, setZero)
 	EXPECT_FLOAT_EQ(a.at<22>(), 0.f);
 }
 
-TEST(sparseVectorTest, additionWithDenseVector)
+TEST(MatrixSparseVectorTest, additionWithDenseVector)
 {
 	Vector<float, 4> dense_vec;
 	dense_vec.setAll(1.f);
@@ -70,7 +103,7 @@ TEST(sparseVectorTest, additionWithDenseVector)
 	EXPECT_FLOAT_EQ(res(3), 4.f);
 }
 
-TEST(sparseVectorTest, addScalar)
+TEST(MatrixSparseVectorTest, addScalar)
 {
 	const float data[3] = {1.f, 2.f, 3.f};
 	SparseVectorf<4, 1, 2, 3> sparse_vec(data);
@@ -80,7 +113,7 @@ TEST(sparseVectorTest, addScalar)
 	EXPECT_FLOAT_EQ(sparse_vec.at<3>(), 5.f);
 }
 
-TEST(sparseVectorTest, dotProductWithDenseVector)
+TEST(MatrixSparseVectorTest, dotProductWithDenseVector)
 {
 	Vector<float, 4> dense_vec;
 	dense_vec.setAll(3.f);
@@ -90,7 +123,7 @@ TEST(sparseVectorTest, dotProductWithDenseVector)
 	EXPECT_FLOAT_EQ(res, 18.f);
 }
 
-TEST(sparseVectorTest, multiplicationWithDenseMatrix)
+TEST(MatrixSparseVectorTest, multiplicationWithDenseMatrix)
 {
 	Matrix<float, 2, 3> dense_matrix;
 	dense_matrix.setAll(2.f);
@@ -102,7 +135,7 @@ TEST(sparseVectorTest, multiplicationWithDenseMatrix)
 	EXPECT_TRUE(isEqual(res_dense, res_sparse));
 }
 
-TEST(sparseVectorTest, quadraticForm)
+TEST(MatrixSparseVectorTest, quadraticForm)
 {
 	float matrix_data[9] = {1, 2, 3,
 				2, 4, 5,
@@ -114,7 +147,7 @@ TEST(sparseVectorTest, quadraticForm)
 	EXPECT_FLOAT_EQ(quadraticForm(dense_matrix, sparse_vec), 204.f);
 }
 
-TEST(sparseVectorTest, norms)
+TEST(MatrixSparseVectorTest, norms)
 {
 	const float data[2] = {3.f, 4.f};
 	const SparseVectorf<4, 1, 3> sparse_vec(data);
@@ -123,11 +156,3 @@ TEST(sparseVectorTest, norms)
 	EXPECT_TRUE(sparse_vec.longerThan(4.5f));
 	EXPECT_FALSE(sparse_vec.longerThan(5.5f));
 }
-
-
-int main(int argc, char **argv)
-{
-	testing::InitGoogleTest(&argc, argv);
-	std::cout << "Run SparseVector tests" << std::endl;
-	return RUN_ALL_TESTS();
-}

src/lib/matrix/test/MatrixUnwrapTest.cpp

@@ -3,7 +3,7 @@
 
 using namespace matrix;
 
-TEST(Unwrap, UnwrapFloats)
+TEST(MatrixUnwrapTest, UnwrapFloats)
 {
 	const float M_TWO_PI_F = float(M_PI * 2);
 
@@ -32,7 +32,7 @@ TEST(Unwrap, UnwrapFloats)
 	}
 }
 
-TEST(Unwrap, UnwrapDoubles)
+TEST(MatrixUnwrapTest, UnwrapDoubles)
 {
 	const double M_TWO_PI = M_PI * 2;