/****************************************************************************
 *
 *   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(MatrixVectorAssignmentTest, VectorAssignment)
{
	Vector3f v;
	v(0) = 1;
	v(1) = 2;
	v(2) = 3;

	EXPECT_FLOAT_EQ(v(0), 1);
	EXPECT_FLOAT_EQ(v(1), 2);
	EXPECT_FLOAT_EQ(v(2), 3);

	Vector3f v2(4, 5, 6);

	EXPECT_FLOAT_EQ(v2(0), 4);
	EXPECT_FLOAT_EQ(v2(1), 5);
	EXPECT_FLOAT_EQ(v2(2), 6);

	SquareMatrix<float, 3> m = diag(Vector3f(1, 2, 3));
	EXPECT_FLOAT_EQ(m(0, 0), 1);
	EXPECT_FLOAT_EQ(m(1, 1), 2);
	EXPECT_FLOAT_EQ(m(2, 2), 3);
}