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94 lines
3.8 KiB
C++
94 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <matrix/math.hpp>
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#include "ObstacleMath.hpp"
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using namespace matrix;
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TEST(ObstacleMathTest, ProjectDistanceOnHorizontalPlane)
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{
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// standard vehicle orientation inputs
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Quatf vehicle_pitch_up_45(Eulerf(0.0f, M_PI_4_F, 0.0f));
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Quatf vehicle_roll_right_45(Eulerf(M_PI_4_F, 0.0f, 0.0f));
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// GIVEN: a distance, sensor orientation, and quaternion representing the vehicle's orientation
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float distance = 1.0f;
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float sensor_orientation = 0; // radians (forward facing)
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// WHEN: we project the distance onto the horizontal plane
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ObstacleMath::project_distance_on_horizontal_plane(distance, sensor_orientation, vehicle_pitch_up_45);
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// THEN: the distance should be scaled correctly
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float expected_scale = sqrtf(2) / 2;
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float expected_distance = 1.0f * expected_scale;
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EXPECT_NEAR(distance, expected_distance, 1e-5);
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// GIVEN: a distance, sensor orientation, and quaternion representing the vehicle's orientation
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distance = 1.0f;
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ObstacleMath::project_distance_on_horizontal_plane(distance, sensor_orientation, vehicle_roll_right_45);
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// THEN: the distance should be scaled correctly
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expected_scale = 1.f;
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expected_distance = 1.0f * expected_scale;
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EXPECT_NEAR(distance, expected_distance, 1e-5);
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// GIVEN: a distance, sensor orientation, and quaternion representing the vehicle's orientation
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distance = 1.0f;
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sensor_orientation = M_PI_2_F; // radians (right facing)
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ObstacleMath::project_distance_on_horizontal_plane(distance, sensor_orientation, vehicle_roll_right_45);
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// THEN: the distance should be scaled correctly
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expected_scale = sqrtf(2) / 2;
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expected_distance = 1.0f * expected_scale;
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EXPECT_NEAR(distance, expected_distance, 1e-5);
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// GIVEN: a distance, sensor orientation, and quaternion representing the vehicle's orientation
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distance = 1.0f;
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ObstacleMath::project_distance_on_horizontal_plane(distance, sensor_orientation, vehicle_pitch_up_45);
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// THEN: the distance should be scaled correctly
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expected_scale = 1.f;
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expected_distance = 1.0f * expected_scale;
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EXPECT_NEAR(distance, expected_distance, 1e-5);
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}
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