Matrix: convert vector3 test to gtest

src/lib/matrix/test/CMakeLists.txt

@@ -8,7 +8,6 @@ add_compile_options(
 set(tests
     vectorAssignment
     vector
-    vector3
 )
 
 add_custom_target(test_build)
@@ -45,3 +44,4 @@ px4_add_unit_gtest(SRC MatrixTransposeTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
 px4_add_unit_gtest(SRC MatrixUpperRightTriangleTest.cpp)
 px4_add_unit_gtest(SRC MatrixVector2Test.cpp)
+px4_add_unit_gtest(SRC MatrixVector3Test.cpp)

src/lib/matrix/test/MatrixVector3Test.cpp

@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   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(MatrixVector3Test, Vector3)
+{
+	Vector3f a(1, 0, 0);
+	Vector3f b(0, 1, 0);
+	Vector3f c = a.cross(b);
+	EXPECT_EQ(c, Vector3f(0, 0, 1));
+	c = a % b;
+	EXPECT_EQ(c, Vector3f(0, 0, 1));
+	Matrix<float, 3, 1> d(c);
+	Vector3f e(d);
+	EXPECT_EQ(e, d);
+	float data[] = {4, 5, 6};
+	Vector3f f(data);
+	EXPECT_EQ(f, Vector3f(4, 5, 6));
+
+	EXPECT_EQ(a + b, Vector3f(1, 1, 0));
+	EXPECT_EQ(a - b, Vector3f(1, -1, 0));
+	EXPECT_FLOAT_EQ(a * b, 0.0f);
+	EXPECT_EQ(-a, Vector3f(-1, 0, 0));
+	EXPECT_EQ(a.unit(), a);
+	EXPECT_EQ(a.unit(), a.normalized());
+	EXPECT_EQ(a * 2.0, Vector3f(2, 0, 0));
+
+	Vector2f g2(1, 3);
+	Vector3f g3(7, 11, 17);
+	g3.xy() = g2;
+	EXPECT_EQ(g3, Vector3f(1, 3, 17));
+
+	const Vector3f g4(g3);
+	Vector2f g5 = g4.xy();
+	EXPECT_EQ(g5, g2);
+	EXPECT_EQ(g2, Vector2f(g4.xy()));
+
+	Vector3f h;
+	EXPECT_EQ(h, Vector3f(0, 0, 0));
+
+	Vector<float, 4> j;
+	j(0) = 1;
+	j(1) = 2;
+	j(2) = 3;
+	j(3) = 4;
+
+	Vector3f k = j.slice<3, 1>(0, 0);
+	Vector3f k_test(1, 2, 3);
+	EXPECT_EQ(k, k_test);
+
+	Vector3f m1(1, 2, 3);
+	Vector3f m2(3.1f, 4.1f, 5.1f);
+	EXPECT_EQ(m2, m1 + 2.1f);
+	EXPECT_EQ(m2 - 2.1f, m1);
+}

src/lib/matrix/test/vector3.cpp

@@ -1,60 +0,0 @@
-#include "test_macros.hpp"
-
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	Vector3f a(1, 0, 0);
-	Vector3f b(0, 1, 0);
-	Vector3f c = a.cross(b);
-	TEST(isEqual(c, Vector3f(0, 0, 1)));
-	c = a % b;
-	TEST(isEqual(c, Vector3f(0, 0, 1)));
-	Matrix<float, 3, 1> d(c);
-	Vector3f e(d);
-	TEST(isEqual(e, d));
-	float data[] = {4, 5, 6};
-	Vector3f f(data);
-	TEST(isEqual(f, Vector3f(4, 5, 6)));
-
-	TEST(isEqual(a + b, Vector3f(1, 1, 0)));
-	TEST(isEqual(a - b, Vector3f(1, -1, 0)));
-	TEST(isEqualF(a * b, 0.0f));
-	TEST(isEqual(-a, Vector3f(-1, 0, 0)));
-	TEST(isEqual(a.unit(), a));
-	TEST(isEqual(a.unit(), a.normalized()));
-	TEST(isEqual(a * 2.0, Vector3f(2, 0, 0)));
-
-	Vector2f g2(1, 3);
-	Vector3f g3(7, 11, 17);
-	g3.xy() = g2;
-	TEST(isEqual(g3, Vector3f(1, 3, 17)));
-
-	const Vector3f g4(g3);
-	Vector2f g5 = g4.xy();
-	TEST(isEqual(g5, g2));
-	TEST(isEqual(g2, Vector2f(g4.xy())));
-
-	Vector3f h;
-	TEST(isEqual(h, Vector3f(0, 0, 0)));
-
-	Vector<float, 4> j;
-	j(0) = 1;
-	j(1) = 2;
-	j(2) = 3;
-	j(3) = 4;
-
-	Vector3f k = j.slice<3, 1>(0, 0);
-	Vector3f k_test(1, 2, 3);
-	TEST(isEqual(k, k_test));
-
-	Vector3f m1(1, 2, 3);
-	Vector3f m2(3.1f, 4.1f, 5.1f);
-	TEST(isEqual(m2, m1 + 2.1f));
-	TEST(isEqual(m2 - 2.1f, m1));
-
-	return 0;
-}
-