mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 03:24:07 +08:00
61 lines
2.2 KiB
C++
61 lines
2.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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);
|
|
}
|