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Fix implicit float->double conversions in tests

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This commit is contained in:
Julian Kent
2021-01-12 14:38:59 +01:00
committed by Julian Kent
parent 2d6758a39d
commit be0f5a7fe4
1 changed files with 8 additions and 8 deletions
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src/modules/navigator/GeofenceBreachAvoidance/GeofenceBreachAvoidanceTest.cpp
+8 -8
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@@ -57,24 +57,24 @@ TEST_F(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
Vector2d home_global(42.1, 8.2);
map_projection_init(&ref, home_global(0), home_global(1));
Vector2d waypoint_north_east_local(1.0, 1.0);
Vector2f waypoint_north_east_local(1.0, 1.0);
waypoint_north_east_local = waypoint_north_east_local.normalized() * 10.5;
Vector2d waypoint_north_east_global = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.25f, 10.5);
float x, y;
map_projection_project(&ref, waypoint_north_east_global(0), waypoint_north_east_global(1), &x, &y);
Vector2d waypoint_north_east_reprojected(x, y);
Vector2f waypoint_north_east_reprojected(x, y);
EXPECT_FLOAT_EQ(waypoint_north_east_local(0), waypoint_north_east_reprojected(0));
EXPECT_FLOAT_EQ(waypoint_north_east_local(1), waypoint_north_east_reprojected(1));
Vector2d waypoint_south_west_local = -waypoint_north_east_local;
Vector2f waypoint_south_west_local = -waypoint_north_east_local;
Vector2d waypoint_southwest_global = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.25f, -10.5);
map_projection_project(&ref, waypoint_southwest_global(0), waypoint_southwest_global(1), &x, &y);
Vector2d waypoint_south_west_reprojected(x, y);
Vector2f waypoint_south_west_reprojected(x, y);
EXPECT_FLOAT_EQ(waypoint_south_west_local(0), waypoint_south_west_reprojected(0));
EXPECT_FLOAT_EQ(waypoint_south_west_local(1), waypoint_south_west_reprojected(1));
@@ -82,7 +82,7 @@ TEST_F(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance)
Vector2d same_as_home_global = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.25f, 0.0);
EXPECT_EQ(home_global, same_as_home_global);
EXPECT_LT(Vector2d(home_global - same_as_home_global).norm(), 1e-4);
}
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing)
@@ -193,7 +193,7 @@ TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor)
gf_violation.flags.fence_violation = false;
loiter_point = gf_avoidance.generateLoiterPointForMultirotor(gf_violation, &geo);
EXPECT_EQ(loiter_point, home_global);
EXPECT_LT(Vector2d(loiter_point - home_global).norm(), 1e-4);
}
TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing)
@@ -272,7 +272,7 @@ TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationMulticopter)
Vector2d loiter_point_predicted = gf_avoidance.waypointFromBearingAndDistance(home_global, test_point_bearing,
max_dist_to_home - gf_avoidance.getMinHorDistToFenceMulticopter());
EXPECT_EQ(loiter_point_predicted, loiter_point_lat_lon);
EXPECT_LT(Vector2d(loiter_point_predicted - loiter_point_lat_lon).norm(), 1e-4);
}
TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationFixedWing)
@@ -302,5 +302,5 @@ TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationFixedWing)
Vector2d loiter_point_predicted = gf_avoidance.waypointFromBearingAndDistance(home_global, test_point_bearing,
max_dist_to_home - 2.0f * test_point_distance);
EXPECT_EQ(loiter_point_predicted, loiter_point_lat_lon);
EXPECT_LT(Vector2d(loiter_point_predicted - loiter_point_lat_lon).norm(), 1e-4);
}