You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
100 lines
2.8 KiB
100 lines
2.8 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2012 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. |
|
* |
|
****************************************************************************/ |
|
|
|
/** |
|
* @file Vector.cpp |
|
* |
|
* math vector |
|
*/ |
|
|
|
#include "math/test/test.hpp" |
|
|
|
#include "Vector.hpp" |
|
|
|
namespace math |
|
{ |
|
|
|
static const float data_testA[] = {1, 3}; |
|
static const float data_testB[] = {4, 1}; |
|
|
|
static Vector testA(2, data_testA); |
|
static Vector testB(2, data_testB); |
|
|
|
int __EXPORT vectorTest() |
|
{ |
|
vectorAddTest(); |
|
vectorSubTest(); |
|
return 0; |
|
} |
|
|
|
int vectorAddTest() |
|
{ |
|
printf("Test Vector Add\t\t: "); |
|
Vector r = testA + testB; |
|
float data_test[] = {5.0f, 4.0f}; |
|
ASSERT(vectorEqual(Vector(2, data_test), r)); |
|
printf("PASS\n"); |
|
return 0; |
|
} |
|
|
|
int vectorSubTest() |
|
{ |
|
printf("Test Vector Sub\t\t: "); |
|
Vector r(2); |
|
r = testA - testB; |
|
float data_test[] = { -3.0f, 2.0f}; |
|
ASSERT(vectorEqual(Vector(2, data_test), r)); |
|
printf("PASS\n"); |
|
return 0; |
|
} |
|
|
|
bool vectorEqual(const Vector &a, const Vector &b, float eps) |
|
{ |
|
if (a.getRows() != b.getRows()) { |
|
printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows()); |
|
return false; |
|
} |
|
|
|
bool ret = true; |
|
|
|
for (size_t i = 0; i < a.getRows(); i++) { |
|
if (!equal(a(i), b(i), eps)) { |
|
printf("element mismatch (%d)\n", i); |
|
ret = false; |
|
} |
|
} |
|
|
|
return ret; |
|
} |
|
|
|
} // namespace math
|
|
|