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Matrix: convert helper test to gtest

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This commit is contained in:
Matthias Grob
2022-02-23 14:51:07 +01:00
parent 0c4c3a917c
commit 7c9e28c168
3 changed files with 108 additions and 78 deletions
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src/lib/matrix/test/CMakeLists.txt
+1 -1
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@@ -18,7 +18,6 @@ set(tests
vector3
integration
squareMatrix
helper
least_squares
upperRightTriangle
pseudoInverse
@@ -43,5 +42,6 @@ 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 MatrixHatveeTest.cpp)
px4_add_unit_gtest(SRC MatrixHelperTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
src/lib/matrix/test/MatrixHelperTest.cpp
+107
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@@ -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));
}
src/lib/matrix/test/helper.cpp
-77
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@@ -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;
}