From 0c4c3a917c9960aeb6729f9db1c28e7a2496c667 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 23 Feb 2022 14:50:25 +0100
Subject: [PATCH] Matrix: convert hat vee test to gtest

---
 src/lib/matrix/test/CMakeLists.txt       |  2 +-
 src/lib/matrix/test/MatrixHatveeTest.cpp | 49 ++++++++++++++++++++++++
 src/lib/matrix/test/hatvee.cpp           | 18 ---------
 3 files changed, 50 insertions(+), 19 deletions(-)
 create mode 100644 src/lib/matrix/test/MatrixHatveeTest.cpp
 delete mode 100644 src/lib/matrix/test/hatvee.cpp

diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 10d4a65440..e291be4504 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -19,7 +19,6 @@ set(tests
     integration
     squareMatrix
     helper
-    hatvee
     least_squares
     upperRightTriangle
     pseudoInverse
@@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
 px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
 px4_add_unit_gtest(SRC MatrixDualTest.cpp)
 px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
+px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
diff --git a/src/lib/matrix/test/MatrixHatveeTest.cpp b/src/lib/matrix/test/MatrixHatveeTest.cpp
new file mode 100644
index 0000000000..f6a8f413a7
--- /dev/null
+++ b/src/lib/matrix/test/MatrixHatveeTest.cpp
@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   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(MatrixHatveeTest, Hatvee)
+{
+	Euler<float> euler(0.1f, 0.2f, 0.3f);
+	Dcm<float> R(euler);
+	Dcm<float> skew = R - R.T();
+	Vector3<float> w = skew.vee();
+	Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
+
+	EXPECT_EQ(w, w_check);
+	EXPECT_EQ(skew, w.hat());
+}
diff --git a/src/lib/matrix/test/hatvee.cpp b/src/lib/matrix/test/hatvee.cpp
deleted file mode 100644
index bb90e3157d..0000000000
--- a/src/lib/matrix/test/hatvee.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	Euler<float> euler(0.1f, 0.2f, 0.3f);
-	Dcm<float> R(euler);
-	Dcm<float> skew = R - R.T();
-	Vector3<float> w = skew.vee();
-	Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
-
-	TEST(isEqual(w, w_check));
-	TEST(isEqual(skew, w.hat()));
-	return 0;
-}
-