From f4b53d27621c87b262e9e89d0eab83a8a37aa798 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 23 Feb 2022 15:12:57 +0100 Subject: [PATCH] Matrix: convert vector3 test to gtest --- src/lib/matrix/test/CMakeLists.txt | 2 +- src/lib/matrix/test/MatrixVector3Test.cpp | 89 +++++++++++++++++++++++ src/lib/matrix/test/vector3.cpp | 60 --------------- 3 files changed, 90 insertions(+), 61 deletions(-) create mode 100644 src/lib/matrix/test/MatrixVector3Test.cpp delete mode 100644 src/lib/matrix/test/vector3.cpp diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt index 7ea130e20e..901be75795 100644 --- a/src/lib/matrix/test/CMakeLists.txt +++ b/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) diff --git a/src/lib/matrix/test/MatrixVector3Test.cpp b/src/lib/matrix/test/MatrixVector3Test.cpp new file mode 100644 index 0000000000..4bb9335df0 --- /dev/null +++ b/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 +#include + +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 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 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); +} diff --git a/src/lib/matrix/test/vector3.cpp b/src/lib/matrix/test/vector3.cpp deleted file mode 100644 index 75eaa11038..0000000000 --- a/src/lib/matrix/test/vector3.cpp +++ /dev/null @@ -1,60 +0,0 @@ -#include "test_macros.hpp" - -#include - -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 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 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; -} -