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Unit tests: use EXPECT_FLOAT_EQ for float comparisons

Browse Source 
as precaution to prevent failing tests because of small potential
rounding errors on certain platforms or compilares.
This commit is contained in:
Matthias Grob 2019-12-26 12:10:56 +01:00 committed by Lorenz Meier
parent ee62d0296f
commit ffff35a597
6 changed files with 43 additions and 43 deletions
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8
src/lib/collision_prevention/CollisionPreventionTest.cpp
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@ -313,7 +313,7 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
if (i < 6) {
// THEN: If the data is new enough, the velocity setpoint should stay the same as the input
// Note: direction will change slightly due to guidance
EXPECT_EQ(original_setpoint.norm(), modified_setpoint.norm());
EXPECT_FLOAT_EQ(original_setpoint.norm(), modified_setpoint.norm());
} else {
// THEN: If the data is expired, the velocity setpoint should be cut down to zero because there is no data
@ -381,7 +381,7 @@ TEST_F(CollisionPreventionTest, testNoRangeData)
if (i < 5) {
// THEN: If the data is new enough, the velocity setpoint should stay the same as the input
// Note: direction will change slightly due to guidance
EXPECT_EQ(original_setpoint.norm(), modified_setpoint.norm());
EXPECT_FLOAT_EQ(original_setpoint.norm(), modified_setpoint.norm());
} else {
// THEN: If the data is expired, the velocity setpoint should be cut down to zero because there is no data
@ -1008,8 +1008,8 @@ TEST_F(CollisionPreventionTest, adaptSetpointDirection_flat_minimum)
//THEN: the setpoint direction should be modified correctly
EXPECT_EQ(sp_index, 2);
EXPECT_FLOAT_EQ(setpoint_dir(0), 0.93969262);
EXPECT_FLOAT_EQ(setpoint_dir(1), 0.34202012);
EXPECT_FLOAT_EQ(setpoint_dir(0), 0.93969262f);
EXPECT_FLOAT_EQ(setpoint_dir(1), 0.34202012f);
}
TEST_F(CollisionPreventionTest, overlappingSensors)

6
src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp
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@ -58,9 +58,9 @@ TEST_F(ManualVelocitySmoothingXYTest, setGet)
_smoothing.setMaxVel(5.f);
// THEN: We should be able to get them back
EXPECT_EQ(_smoothing.getMaxJerk(), 11.f);
EXPECT_EQ(_smoothing.getMaxAccel(), 7.f);
EXPECT_EQ(_smoothing.getMaxVel(), 5.f);
EXPECT_FLOAT_EQ(_smoothing.getMaxJerk(), 11.f);
EXPECT_FLOAT_EQ(_smoothing.getMaxAccel(), 7.f);
EXPECT_FLOAT_EQ(_smoothing.getMaxVel(), 5.f);
}
TEST_F(ManualVelocitySmoothingXYTest, getCurrentState)

8
src/lib/flight_tasks/tasks/Utility/VelocitySmoothingTest.cpp
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@ -172,9 +172,9 @@ TEST_F(VelocitySmoothingTest, testZeroSetpoint)
// THEN: All the trajectories should still be zero
for (int i = 0; i < 3; i++) {
EXPECT_EQ(_trajectories[i].getCurrentJerk(), 0.f);
EXPECT_EQ(_trajectories[i].getCurrentAcceleration(), 0.f);
EXPECT_EQ(_trajectories[i].getCurrentVelocity(), 0.f);
EXPECT_EQ(_trajectories[i].getCurrentPosition(), 0.f);
EXPECT_FLOAT_EQ(_trajectories[i].getCurrentJerk(), 0.f);
EXPECT_FLOAT_EQ(_trajectories[i].getCurrentAcceleration(), 0.f);
EXPECT_FLOAT_EQ(_trajectories[i].getCurrentVelocity(), 0.f);
EXPECT_FLOAT_EQ(_trajectories[i].getCurrentPosition(), 0.f);
}
}

8
src/lib/parameters/ParameterTest.cpp
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@ -59,7 +59,7 @@ TEST_F(ParameterTest, testParamReadWrite)
// THEN it should be successful and have the default value
EXPECT_EQ(0, status);
EXPECT_EQ(-1, value);
EXPECT_FLOAT_EQ(-1.f, value);
// WHEN: we set the parameter
value = 42.f;
@ -74,7 +74,7 @@ TEST_F(ParameterTest, testParamReadWrite)
// THEN: it should be exactly the value we set
EXPECT_EQ(0, status);
EXPECT_EQ(42.f, value2);
EXPECT_FLOAT_EQ(42.f, value2);
}
@ -99,8 +99,8 @@ TEST_F(ParameterTest, testUorbSendReceive)
// AND: the values we got should be the same
EXPECT_EQ(message.timestamp, obstacle_distance.timestamp);
EXPECT_EQ(message.min_distance, obstacle_distance.min_distance);
EXPECT_EQ(message.max_distance, obstacle_distance.max_distance);
EXPECT_FLOAT_EQ(message.min_distance, obstacle_distance.min_distance);
EXPECT_FLOAT_EQ(message.max_distance, obstacle_distance.max_distance);
// AND: all the bytes should be equal
EXPECT_EQ(0, memcmp(&message, &obstacle_distance, sizeof(message)));

46
src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
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@ -43,24 +43,24 @@ TEST(PositionControlTest, EmptySetpoint)
vehicle_local_position_setpoint_s output_setpoint{};
position_control.getLocalPositionSetpoint(output_setpoint);
EXPECT_EQ(output_setpoint.x, 0.f);
EXPECT_EQ(output_setpoint.y, 0.f);
EXPECT_EQ(output_setpoint.z, 0.f);
EXPECT_EQ(output_setpoint.yaw, 0.f);
EXPECT_EQ(output_setpoint.yawspeed, 0.f);
EXPECT_EQ(output_setpoint.vx, 0.f);
EXPECT_EQ(output_setpoint.vy, 0.f);
EXPECT_EQ(output_setpoint.vz, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.x, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.y, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.z, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.yaw, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.yawspeed, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.vx, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.vy, 0.f);
EXPECT_FLOAT_EQ(output_setpoint.vz, 0.f);
EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));
vehicle_attitude_setpoint_s attitude{};
position_control.getAttitudeSetpoint(attitude);
EXPECT_EQ(attitude.roll_body, 0.f);
EXPECT_EQ(attitude.pitch_body, 0.f);
EXPECT_EQ(attitude.yaw_body, 0.f);
EXPECT_EQ(attitude.yaw_sp_move_rate, 0.f);
EXPECT_FLOAT_EQ(attitude.roll_body, 0.f);
EXPECT_FLOAT_EQ(attitude.pitch_body, 0.f);
EXPECT_FLOAT_EQ(attitude.yaw_body, 0.f);
EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f);
EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
//EXPECT_EQ(attitude.q_d_valid, false); // TODO should not be true when there was no control
EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
@ -68,7 +68,7 @@ TEST(PositionControlTest, EmptySetpoint)
EXPECT_EQ(attitude.pitch_reset_integral, false);
EXPECT_EQ(attitude.yaw_reset_integral, false);
EXPECT_EQ(attitude.fw_control_yaw, false);
EXPECT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
EXPECT_FLOAT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
}
class PositionControlBasicTest : public ::testing::Test
@ -190,8 +190,8 @@ TEST_F(PositionControlBasicTest, ThrustLimit)
_input_setpoint.z = -10.f;
runController();
EXPECT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_FLOAT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_FLOAT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_LT(_attitude.thrust_body[2], -.1f);
EXPECT_GE(_attitude.thrust_body[2], -0.9f);
}
@ -202,8 +202,8 @@ TEST_F(PositionControlBasicTest, FailsafeInput)
_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.f;
runController();
EXPECT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_FLOAT_EQ(_attitude.thrust_body[0], 0.f);
EXPECT_FLOAT_EQ(_attitude.thrust_body[1], 0.f);
EXPECT_LT(_output_setpoint.thrust[2], -.1f);
EXPECT_GT(_output_setpoint.thrust[2], -.5f);
EXPECT_GT(_attitude.thrust_body[2], -.5f);
@ -217,9 +217,9 @@ TEST_F(PositionControlBasicTest, InputCombinationsPosition)
_input_setpoint.z = .3f;
runController();
EXPECT_EQ(_output_setpoint.x, .1f);
EXPECT_EQ(_output_setpoint.y, .2f);
EXPECT_EQ(_output_setpoint.z, .3f);
EXPECT_FLOAT_EQ(_output_setpoint.x, .1f);
EXPECT_FLOAT_EQ(_output_setpoint.y, .2f);
EXPECT_FLOAT_EQ(_output_setpoint.z, .3f);
EXPECT_FALSE(isnan(_output_setpoint.vx));
EXPECT_FALSE(isnan(_output_setpoint.vy));
EXPECT_FALSE(isnan(_output_setpoint.vz));
@ -237,9 +237,9 @@ TEST_F(PositionControlBasicTest, InputCombinationsPositionVelocity)
runController();
// EXPECT_TRUE(isnan(_output_setpoint.x));
// EXPECT_TRUE(isnan(_output_setpoint.y));
EXPECT_EQ(_output_setpoint.z, .3f);
EXPECT_EQ(_output_setpoint.vx, .1f);
EXPECT_EQ(_output_setpoint.vy, .2f);
EXPECT_FLOAT_EQ(_output_setpoint.z, .3f);
EXPECT_FLOAT_EQ(_output_setpoint.vx, .1f);
EXPECT_FLOAT_EQ(_output_setpoint.vy, .2f);
EXPECT_FALSE(isnan(_output_setpoint.vz));
EXPECT_FALSE(isnan(_output_setpoint.thrust[0]));
EXPECT_FALSE(isnan(_output_setpoint.thrust[1]));

10
src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp
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@ -66,11 +66,11 @@ TEST(TakeoffTest, RegularTakeoffRamp)
// armed, not landed, want takeoff, ramping up
takeoff.updateTakeoffState(true, false, true, 1.f, false, 4_s);
EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 0.f);
EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), .5f);
EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.f);
EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
EXPECT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 0.f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), .5f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
EXPECT_FLOAT_EQ(takeoff.updateRamp(.5f, 1.5f), 1.5f);
// armed, not landed, want takeoff, rampup time passed
takeoff.updateTakeoffState(true, false, true, 1.f, false, 6500_ms);