zrzk
/
px4_autopilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Matrix: convert helper test to gtest

v1.13.0-BW
Matthias Grob 3 years ago
parent
0c4c3a917c
commit
7c9e28c168
3 changed files with 108 additions and 78 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/lib/matrix/test/CMakeLists.txt
  2. 107
      src/lib/matrix/test/MatrixHelperTest.cpp
  3. 77
      src/lib/matrix/test/helper.cpp

2
src/lib/matrix/test/CMakeLists.txt
Unescape View File

@ -18,7 +18,6 @@ set(tests
vector3 vector3
integration integration
squareMatrix squareMatrix
helper
least_squares least_squares
upperRightTriangle upperRightTriangle
pseudoInverse pseudoInverse
@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
px4_add_unit_gtest(SRC MatrixDualTest.cpp) px4_add_unit_gtest(SRC MatrixDualTest.cpp)
px4_add_unit_gtest(SRC MatrixFilterTest.cpp) px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
px4_add_unit_gtest(SRC MatrixHatveeTest.cpp) px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
px4_add_unit_gtest(SRC MatrixHelperTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp) px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp) px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

107
src/lib/matrix/test/MatrixHelperTest.cpp
Unescape View File

@ -0,0 +1,107 @@
/****************************************************************************
*
* 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(MatrixHelperTest, Helper)
{
// general wraps
EXPECT_FLOAT_EQ(wrap(4., 0., 10.), 4.);
EXPECT_FLOAT_EQ(wrap(4., 0., 1.), 0.);
EXPECT_FLOAT_EQ(wrap(-4., 0., 10.), 6.);
EXPECT_FLOAT_EQ(wrap(-18., 0., 10.), 2.);
EXPECT_FLOAT_EQ(wrap(-1.5, 3., 5.), 4.);
EXPECT_FLOAT_EQ(wrap(15.5, 3., 5.), 3.);
EXPECT_FLOAT_EQ(wrap(-1., 30., 40.), 39.);
EXPECT_FLOAT_EQ(wrap(-8000., -555., 1.), -216.);
EXPECT_FLOAT_EQ(wrap(0., 0., 360.), 0.);
EXPECT_FLOAT_EQ(wrap(0. - FLT_EPSILON, 0., 360.), 360.);
EXPECT_FLOAT_EQ(wrap(0. + FLT_EPSILON, 0., 360.), 0.);
EXPECT_FLOAT_EQ(wrap(360., 0., 360.), 0.);
EXPECT_FLOAT_EQ(wrap(360. - FLT_EPSILON, 0., 360.), 360.);
EXPECT_FLOAT_EQ(wrap(360. + FLT_EPSILON, 0., 360.), 0.);
// integer wraps
EXPECT_EQ(wrap(-10, 0, 10), 0);
EXPECT_EQ(wrap(-4, 0, 10), 6);
EXPECT_EQ(wrap(0, 0, 10), 0);
EXPECT_EQ(wrap(4, 0, 10), 4);
EXPECT_EQ(wrap(10, 0, 10), 0);
// wrap pi
EXPECT_FLOAT_EQ(wrap_pi(0.), 0.);
EXPECT_FLOAT_EQ(wrap_pi(4.), (4. - M_TWOPI));
EXPECT_FLOAT_EQ(wrap_pi(-4.), (-4. + M_TWOPI));
EXPECT_FLOAT_EQ(wrap_pi(3.), 3.);
EXPECT_FLOAT_EQ(wrap_pi(100.), (100. - 32. * M_PI));
EXPECT_FLOAT_EQ(wrap_pi(-100.), (-100. + 32. * M_PI));
EXPECT_FLOAT_EQ(wrap_pi(-101.), (-101. + 32. * M_PI));
EXPECT_FALSE(is_finite(wrap_pi(NAN)));
// wrap 2pi
EXPECT_FLOAT_EQ(wrap_2pi(0.), 0.);
EXPECT_FLOAT_EQ(wrap_2pi(-4.), (-4. + 2. * M_PI));
EXPECT_FLOAT_EQ(wrap_2pi(3.), (3.));
EXPECT_FLOAT_EQ(wrap_2pi(200.), (200. - 31. * M_TWOPI));
EXPECT_FLOAT_EQ(wrap_2pi(-201.), (-201. + 32. * M_TWOPI));
EXPECT_FALSE(is_finite(wrap_2pi(NAN)));
// Equality checks
EXPECT_TRUE(isEqualF(1., 1.));
EXPECT_FALSE(isEqualF(1., 2.));
EXPECT_FALSE(isEqualF(NAN, 1.f));
EXPECT_FALSE(isEqualF(1.f, NAN));
EXPECT_FALSE(isEqualF(INFINITY, 1.f));
EXPECT_FALSE(isEqualF(1.f, INFINITY));
EXPECT_TRUE(isEqualF(NAN, NAN));
EXPECT_TRUE(isEqualF(NAN, -NAN));
EXPECT_TRUE(isEqualF(-NAN, NAN));
EXPECT_TRUE(isEqualF(INFINITY, INFINITY));
EXPECT_FALSE(isEqualF(INFINITY, -INFINITY));
EXPECT_FALSE(isEqualF(-INFINITY, INFINITY));
EXPECT_TRUE(isEqualF(-INFINITY, -INFINITY));
Vector3f a(1, 2, 3);
Vector3f b(4, 5, 6);
EXPECT_FALSE(isEqual(a, b));
EXPECT_TRUE(isEqual(a, a));
Vector3f c(1, 2, 3);
Vector3f d(1, 2, NAN);
EXPECT_FALSE(isEqual(c, d));
EXPECT_TRUE(isEqual(c, c));
EXPECT_TRUE(isEqual(d, d));
}

77
src/lib/matrix/test/helper.cpp
Unescape View File

@ -1,77 +0,0 @@
#include "test_macros.hpp"
#include <matrix/math.hpp>
using namespace matrix;
int main()
{
// general wraps
TEST(fabs(wrap(4., 0., 10.) - 4.) < FLT_EPSILON);
TEST(fabs(wrap(4., 0., 1.)) < FLT_EPSILON);
TEST(fabs(wrap(-4., 0., 10.) - 6.) < FLT_EPSILON);
TEST(fabs(wrap(-18., 0., 10.) - 2.) < FLT_EPSILON);
TEST(fabs(wrap(-1.5, 3., 5.) - 4.5) < FLT_EPSILON);
TEST(fabs(wrap(15.5, 3., 5.) - 3.5) < FLT_EPSILON);
TEST(fabs(wrap(-1., 30., 40.) - 39.) < FLT_EPSILON);
TEST(fabs(wrap(-8000., -555., 1.) - (-216.)) < FLT_EPSILON);
TEST(fabs(wrap(0., 0., 360.)) < FLT_EPSILON);
TEST(fabs(wrap(0. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
TEST(fabs(wrap(0. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
TEST(fabs(wrap(360., 0., 360.)) < FLT_EPSILON);
TEST(fabs(wrap(360. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
TEST(fabs(wrap(360. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
// integer wraps
TEST(wrap(-10, 0, 10) == 0);
TEST(wrap(-4, 0, 10) == 6);
TEST(wrap(0, 0, 10) == 0)
TEST(wrap(4, 0, 10) == 4);
TEST(wrap(10, 0, 10) == 0);
// wrap pi
TEST(fabs(wrap_pi(0.)) < FLT_EPSILON);
TEST(fabs(wrap_pi(4.) - (4. - M_TWOPI)) < FLT_EPSILON);
TEST(fabs(wrap_pi(-4.) - (-4. + M_TWOPI)) < FLT_EPSILON);
TEST(fabs(wrap_pi(3.) - (3.)) < FLT_EPSILON);
TEST(fabs(wrap_pi(100.) - (100. - 32. * M_PI)) < FLT_EPSILON);
TEST(fabs(wrap_pi(-100.) - (-100. + 32. * M_PI)) < FLT_EPSILON);
TEST(fabs(wrap_pi(-101.) - (-101. + 32. * M_PI)) < FLT_EPSILON);
TEST(!is_finite(wrap_pi(NAN)));
// wrap 2pi
TEST(fabs(wrap_2pi(0.)) < FLT_EPSILON);
TEST(fabs(wrap_2pi(-4.) - (-4. + 2. * M_PI)) < FLT_EPSILON);
TEST(fabs(wrap_2pi(3.) - (3.)) < FLT_EPSILON);
TEST(fabs(wrap_2pi(200.) - (200. - 31. * M_TWOPI)) < FLT_EPSILON);
TEST(fabs(wrap_2pi(-201.) - (-201. + 32. * M_TWOPI)) < FLT_EPSILON);
TEST(!is_finite(wrap_2pi(NAN)));
// Equality checks
TEST(isEqualF(1., 1.));
TEST(!isEqualF(1., 2.));
TEST(!isEqualF(NAN, 1.f));
TEST(!isEqualF(1.f, NAN));
TEST(!isEqualF(INFINITY, 1.f));
TEST(!isEqualF(1.f, INFINITY));
TEST(isEqualF(NAN, NAN));
TEST(isEqualF(NAN, -NAN));
TEST(isEqualF(-NAN, NAN));
TEST(isEqualF(INFINITY, INFINITY));
TEST(!isEqualF(INFINITY, -INFINITY));
TEST(!isEqualF(-INFINITY, INFINITY));
TEST(isEqualF(-INFINITY, -INFINITY));
Vector3f a(1, 2, 3);
Vector3f b(4, 5, 6);
TEST(!isEqual(a, b));
TEST(isEqual(a, a));
Vector3f c(1, 2, 3);
Vector3f d(1, 2, NAN);
TEST(!isEqual(c, d));
TEST(isEqual(c, c));
TEST(isEqual(d, d));
return 0;
}
Write Preview
Loading…
Cancel
Save