From 8f695a5613056e94f58771f1d1e5dee49e5e8182 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 23 Feb 2022 14:49:41 +0100
Subject: [PATCH] Matrix: convert filter test to gtest

---
 src/lib/matrix/test/CMakeLists.txt       |  2 +-
 src/lib/matrix/test/MatrixFilterTest.cpp | 58 ++++++++++++++++++++++++
 src/lib/matrix/test/filter.cpp           | 28 ------------
 3 files changed, 59 insertions(+), 29 deletions(-)
 create mode 100644 src/lib/matrix/test/MatrixFilterTest.cpp
 delete mode 100644 src/lib/matrix/test/filter.cpp

diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 4d6208d9e3..10d4a65440 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -16,7 +16,6 @@ set(tests
     vector
     vector2
     vector3
-    filter
     integration
     squareMatrix
     helper
@@ -43,5 +42,6 @@ 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 MatrixDualTest.cpp)
+px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
diff --git a/src/lib/matrix/test/MatrixFilterTest.cpp b/src/lib/matrix/test/MatrixFilterTest.cpp
new file mode 100644
index 0000000000..10d1b786ae
--- /dev/null
+++ b/src/lib/matrix/test/MatrixFilterTest.cpp
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   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/filter.hpp>
+
+using namespace matrix;
+
+TEST(MatrixFilterTest, Filter)
+{
+	const size_t n_x = 6;
+	const size_t n_y = 5;
+	SquareMatrix<float, n_x> P = eye<float, n_x>();
+	SquareMatrix<float, n_y> R = eye<float, n_y>();
+	Matrix<float, n_y, n_x> C;
+	C.setIdentity();
+	float data[] = {1, 2, 3, 4, 5};
+	Vector<float, n_y> r(data);
+
+	Vector<float, n_x> dx;
+	SquareMatrix<float, n_x> dP;
+	float beta = 0;
+	kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
+
+	float data_check[] = {0.5, 1, 1.5, 2, 2.5, 0};
+	Vector<float, n_x> dx_check(data_check);
+	EXPECT_EQ(dx, dx_check);
+}
diff --git a/src/lib/matrix/test/filter.cpp b/src/lib/matrix/test/filter.cpp
deleted file mode 100644
index f334c66ad9..0000000000
--- a/src/lib/matrix/test/filter.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/filter.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	const size_t n_x = 6;
-	const size_t n_y = 5;
-	SquareMatrix<float, n_x> P = eye<float, n_x>();
-	SquareMatrix<float, n_y> R = eye<float, n_y>();
-	Matrix<float, n_y, n_x> C;
-	C.setIdentity();
-	float data[] = {1, 2, 3, 4, 5};
-	Vector<float, n_y> r(data);
-
-	Vector<float, n_x> dx;
-	SquareMatrix<float, n_x> dP;
-	float beta = 0;
-	kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
-
-	float data_check[] = {0.5, 1, 1.5, 2, 2.5, 0};
-	Vector<float, n_x> dx_check(data_check);
-	TEST(isEqual(dx, dx_check));
-
-	return 0;
-}
-