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99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <matrix/math.hpp>
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using namespace matrix;
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TEST(MatrixCopyToTest, CopyTo)
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{
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// Vector3 copyTo
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const Vector3f v(1, 2, 3);
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float dst3[3] = {};
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v.copyTo(dst3);
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for (size_t i = 0; i < 3; i++) {
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EXPECT_FLOAT_EQ(v(i), dst3[i]);
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}
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// Quaternion copyTo
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Quatf q(1, 2, 3, 4);
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float dst4[4] = {};
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q.copyTo(dst4);
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for (size_t i = 0; i < 4; i++) {
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EXPECT_FLOAT_EQ(q(i), dst4[i]);
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}
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// Matrix copyTo
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Matrix<float, 2, 3> A;
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A(0, 0) = 1;
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A(0, 1) = 2;
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A(0, 2) = 3;
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A(1, 0) = 4;
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A(1, 1) = 5;
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A(1, 2) = 6;
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float array_A[6] = {};
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A.copyTo(array_A);
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float array_row[6] = {1, 2, 3, 4, 5, 6};
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for (size_t i = 0; i < 6; i++) {
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EXPECT_FLOAT_EQ(array_A[i], array_row[i]);
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}
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// Matrix copyToColumnMajor
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A.copyToColumnMajor(array_A);
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float array_column[6] = {1, 4, 2, 5, 3, 6};
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for (size_t i = 0; i < 6; i++) {
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EXPECT_FLOAT_EQ(array_A[i], array_column[i]);
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}
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// Slice copyTo
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float dst5[2] = {};
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v.slice<2, 1>(0, 0).copyTo(dst5);
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for (size_t i = 0; i < 2; i++) {
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EXPECT_FLOAT_EQ(v(i), dst5[i]);
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}
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float subarray_A[4] = {};
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A.slice<2, 2>(0, 0).copyToColumnMajor(subarray_A);
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float subarray_column[4] = {1, 4, 2, 5};
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for (size_t i = 0; i < 4; i++) {
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EXPECT_FLOAT_EQ(subarray_A[i], subarray_column[i]);
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}
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}
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