Matrix: convert copy to test to gtest

src/lib/matrix/test/CMakeLists.txt

@@ -21,7 +21,6 @@ set(tests
     squareMatrix
     helper
     hatvee
-    copyto
     least_squares
     upperRightTriangle
     dual
@@ -43,5 +42,6 @@ endforeach()
 
 px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)
 px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
+px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

src/lib/matrix/test/MatrixCopyToTest.cpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   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(MatrixCopyToTest, CopyTo)
+{
+	// Vector3 copyTo
+	const Vector3f v(1, 2, 3);
+	float dst3[3] = {};
+	v.copyTo(dst3);
+
+	for (size_t i = 0; i < 3; i++) {
+		EXPECT_FLOAT_EQ(v(i), dst3[i]);
+	}
+
+	// Quaternion copyTo
+	Quatf q(1, 2, 3, 4);
+	float dst4[4] = {};
+	q.copyTo(dst4);
+
+	for (size_t i = 0; i < 4; i++) {
+		EXPECT_FLOAT_EQ(q(i), dst4[i]);
+	}
+
+	// Matrix copyTo
+	Matrix<float, 2, 3> A;
+	A(0, 0) = 1;
+	A(0, 1) = 2;
+	A(0, 2) = 3;
+	A(1, 0) = 4;
+	A(1, 1) = 5;
+	A(1, 2) = 6;
+	float array_A[6] = {};
+	A.copyTo(array_A);
+	float array_row[6] = {1, 2, 3, 4, 5, 6};
+
+	for (size_t i = 0; i < 6; i++) {
+		EXPECT_FLOAT_EQ(array_A[i], array_row[i]);
+	}
+
+	// Matrix copyToColumnMajor
+	A.copyToColumnMajor(array_A);
+	float array_column[6] = {1, 4, 2, 5, 3, 6};
+
+	for (size_t i = 0; i < 6; i++) {
+		EXPECT_FLOAT_EQ(array_A[i], array_column[i]);
+	}
+
+	// Slice copyTo
+	float dst5[2] = {};
+	v.slice<2, 1>(0, 0).copyTo(dst5);
+
+	for (size_t i = 0; i < 2; i++) {
+		EXPECT_FLOAT_EQ(v(i), dst5[i]);
+	}
+
+	float subarray_A[4] = {};
+	A.slice<2, 2>(0, 0).copyToColumnMajor(subarray_A);
+	float subarray_column[4] = {1, 4, 2, 5};
+
+	for (size_t i = 0; i < 4; i++) {
+		EXPECT_FLOAT_EQ(subarray_A[i], subarray_column[i]);
+	}
+}

src/lib/matrix/test/copyto.cpp

@@ -1,78 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-namespace
-{
-void doTheCopy(const Matrix<float, 2, 3> &A, float array_A[6])
-{
-	A.copyTo(array_A);
-}
-}
-
-int main()
-{
-	float eps = 1e-6f;
-
-	// Vector3 copyTo
-	const Vector3f v(1, 2, 3);
-	float dst3[3] = {};
-	v.copyTo(dst3);
-
-	for (size_t i = 0; i < 3; i++) {
-		TEST(fabs(v(i) - dst3[i]) < eps);
-	}
-
-	// Quaternion copyTo
-	Quatf q(1, 2, 3, 4);
-	float dst4[4] = {};
-	q.copyTo(dst4);
-
-	for (size_t i = 0; i < 4; i++) {
-		TEST(fabs(q(i) - dst4[i]) < eps);
-	}
-
-	// Matrix copyTo
-	Matrix<float, 2, 3> A;
-	A(0, 0) = 1;
-	A(0, 1) = 2;
-	A(0, 2) = 3;
-	A(1, 0) = 4;
-	A(1, 1) = 5;
-	A(1, 2) = 6;
-	float array_A[6] = {};
-	doTheCopy(A, array_A);
-	float array_row[6] = {1, 2, 3, 4, 5, 6};
-
-	for (size_t i = 0; i < 6; i++) {
-		TEST(fabs(array_A[i] - array_row[i]) < eps);
-	}
-
-	// Matrix copyToColumnMajor
-	A.copyToColumnMajor(array_A);
-	float array_column[6] = {1, 4, 2, 5, 3, 6};
-
-	for (size_t i = 0; i < 6; i++) {
-		TEST(fabs(array_A[i] - array_column[i]) < eps);
-	}
-
-	// Slice copyTo
-	float dst5[2] = {};
-	v.slice<2, 1>(0, 0).copyTo(dst5);
-
-	for (size_t i = 0; i < 2; i++) {
-		TEST(fabs(v(i) - dst5[i]) < eps);
-	}
-
-	float subarray_A[4] = {};
-	A.slice<2, 2>(0, 0).copyToColumnMajor(subarray_A);
-	float subarray_column[4] = {1, 4, 2, 5};
-
-	for (size_t i = 0; i < 4; i++) {
-		TEST(fabs(subarray_A[i] - subarray_column[i]) < eps);
-	}
-
-	return 0;
-}
-