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106 lines
4.1 KiB
C++
106 lines
4.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 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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/**
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* @file RotationTest.cpp
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* Tests for rotations.
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*/
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#include <gtest/gtest.h>
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#include "rotation.h"
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TEST(Rotations, matrix_vs_3f)
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{
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//iterate through all defined rotations
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for (size_t i = 0; i < (size_t)Rotation::ROTATION_MAX; i++) {
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// GIVEN: an initial vector and a rotation
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const matrix::Vector3f original = {1.f, 2.f, 3.f};
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const enum Rotation rotation = static_cast<Rotation>(i);
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// WHEN: we transform the vector using the rotate_3f function and the rotation matrix
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matrix::Vector3f transformed_3f = original;
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rotate_3f(rotation, transformed_3f(0), transformed_3f(1), transformed_3f(2));
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matrix::Dcmf matrix = get_rot_matrix(rotation);
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matrix::Vector3f transformed_mat = matrix * original;
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// THEN: the results should be the same
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EXPECT_NEAR(transformed_mat(0), transformed_3f(0), 10e-6);
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EXPECT_NEAR(transformed_mat(1), transformed_3f(1), 10e-6);
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EXPECT_NEAR(transformed_mat(2), transformed_3f(2), 10e-6);
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}
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}
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TEST(Rotations, duplicates)
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{
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// find all identical rotations to skip (needs to be kept in sync with mag calibration auto rotation)
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for (size_t i = 0; i < (size_t)Rotation::ROTATION_MAX; i++) {
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// GIVEN: an initial vector and a rotation
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const matrix::Vector3f original = {1.f, 2.f, 3.f};
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const enum Rotation rotation_1 = static_cast<Rotation>(i);
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// WHEN: we transform the vector using the rotate_3f function and the rotation matrix
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matrix::Vector3f transformed_1 = original;
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rotate_3f(rotation_1, transformed_1(0), transformed_1(1), transformed_1(2));
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for (size_t j = 0; j < (size_t)Rotation::ROTATION_MAX; j++) {
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const enum Rotation rotation_2 = static_cast<Rotation>(j);
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matrix::Vector3f transformed_2 = original;
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rotate_3f(rotation_2, transformed_2(0), transformed_2(1), transformed_2(2));
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if (i != j) {
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// ROTATION_PITCH_180_YAW_90 (26) = ROTATION_ROLL_180_YAW_270 (14)
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if (i == ROTATION_ROLL_180_YAW_270 && j == ROTATION_PITCH_180_YAW_90) { continue; }
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if (j == ROTATION_ROLL_180_YAW_270 && i == ROTATION_PITCH_180_YAW_90) { continue; }
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// ROTATION_ROLL_180_YAW_90 (10) = ROTATION_PITCH_180_YAW_270 (27)
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if (i == ROTATION_ROLL_180_YAW_90 && j == ROTATION_PITCH_180_YAW_270) { continue; }
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if (j == ROTATION_ROLL_180_YAW_90 && i == ROTATION_PITCH_180_YAW_270) { continue; }
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// otherwise all rotations should be different
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ASSERT_GT((transformed_1 - transformed_2).norm(), 0) << "Rotation " << i << " and " << j << " equal";
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}
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}
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}
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}
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