mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-10 14:51:15 +08:00
Daniel Agar
61 lines
1.2 KiB
C++
61 lines
1.2 KiB
C++
#include "test_macros.hpp"
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#include <matrix/math.hpp>
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using namespace matrix;
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int main()
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{
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Vector3f a(1, 0, 0);
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Vector3f b(0, 1, 0);
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Vector3f c = a.cross(b);
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TEST(isEqual(c, Vector3f(0, 0, 1)));
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c = a % b;
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TEST(isEqual(c, Vector3f(0, 0, 1)));
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Matrix<float, 3, 1> d(c);
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Vector3f e(d);
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TEST(isEqual(e, d));
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float data[] = {4, 5, 6};
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Vector3f f(data);
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TEST(isEqual(f, Vector3f(4, 5, 6)));
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TEST(isEqual(a + b, Vector3f(1, 1, 0)));
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TEST(isEqual(a - b, Vector3f(1, -1, 0)));
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TEST(isEqualF(a * b, 0.0f));
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TEST(isEqual(-a, Vector3f(-1, 0, 0)));
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TEST(isEqual(a.unit(), a));
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TEST(isEqual(a.unit(), a.normalized()));
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TEST(isEqual(a * 2.0, Vector3f(2, 0, 0)));
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Vector2f g2(1, 3);
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Vector3f g3(7, 11, 17);
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g3.xy() = g2;
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TEST(isEqual(g3, Vector3f(1, 3, 17)));
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const Vector3f g4(g3);
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Vector2f g5 = g4.xy();
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TEST(isEqual(g5, g2));
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TEST(isEqual(g2, Vector2f(g4.xy())));
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Vector3f h;
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TEST(isEqual(h, Vector3f(0, 0, 0)));
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Vector<float, 4> j;
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j(0) = 1;
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j(1) = 2;
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j(2) = 3;
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j(3) = 4;
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Vector3f k = j.slice<3, 1>(0, 0);
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Vector3f k_test(1, 2, 3);
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TEST(isEqual(k, k_test));
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Vector3f m1(1, 2, 3);
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Vector3f m2(3.1f, 4.1f, 5.1f);
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TEST(isEqual(m2, m1 + 2.1f));
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TEST(isEqual(m2 - 2.1f, m1));
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return 0;
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}
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