mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
49 lines
1.1 KiB
C++
49 lines
1.1 KiB
C++
#include "test_macros.hpp"
|
|
|
|
#include <matrix/math.hpp>
|
|
|
|
using namespace matrix;
|
|
|
|
int main()
|
|
{
|
|
// test data
|
|
float data1[] = {1,2,3,4,5};
|
|
float data2[] = {6,7,8,9,10};
|
|
Vector<float, 5> v1(data1);
|
|
Vector<float, 5> v2(data2);
|
|
|
|
// copy constructor
|
|
Vector<float, 5> v3(v2);
|
|
TEST(isEqual(v2, v3));
|
|
|
|
// norm, dot product
|
|
TEST(isEqualF(v1.norm(), 7.416198487095663f));
|
|
TEST(isEqualF(v1.norm_squared(), v1.norm() * v1.norm()));
|
|
TEST(isEqualF(v1.norm(), v1.length()));
|
|
TEST(isEqualF(v1.dot(v2), 130.0f));
|
|
TEST(isEqualF(v1.dot(v2), v1 * v2));
|
|
|
|
// unit, unit_zero, normalize
|
|
TEST(isEqualF(v2.unit().norm(), 1.f));
|
|
TEST(isEqualF(v2.unit_or_zero().norm(), 1.f));
|
|
TEST(isEqualF(Vector<float, 5>().unit_or_zero().norm(), 0.f));
|
|
v2.normalize();
|
|
TEST(isEqualF(v2.norm(), 1.f));
|
|
|
|
// sqrt
|
|
float data1_sq[] = {1,4,9,16,25};
|
|
Vector<float, 5> v4(data1_sq);
|
|
TEST(isEqual(v1, v4.sqrt()));
|
|
|
|
// longerThan
|
|
Vector<float, 2> v5;
|
|
v5(0) = 3;
|
|
v5(1) = 4;
|
|
TEST(v5.longerThan(4.99f));
|
|
TEST(!v5.longerThan(5.f));
|
|
|
|
return 0;
|
|
}
|
|
|
|
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|