mirror of https://github.com/ArduPilot/ardupilot
37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
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#include <AP_gtest.h>
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#include <AP_Math/vector2.h>
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#define EXPECT_VECTOR2F_EQ(v1, v2) \
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do { \
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EXPECT_FLOAT_EQ(v1[0], v2[0]); \
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EXPECT_FLOAT_EQ(v1[1], v2[1]); \
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} while (false);
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#define PERP_TEST(px,py, vx,vy, ex,ey) \
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do { \
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Vector2f p(px,py); \
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Vector2f v(vx,vy); \
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Vector2f expected(ex,ey); \
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Vector2f result; \
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result = Vector2f::perpendicular(p, v); \
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EXPECT_VECTOR2F_EQ(result, expected); \
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} while (false)
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TEST(ThreatTests, Distance)
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{
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PERP_TEST( 0.0f,0.0f, 0.0f,0.0f, 0.0f,0.0f);
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PERP_TEST( 0.0f,0.0f, 1.0f,0.0f, 0.0f,-1.0f);
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PERP_TEST( 2.0f,0.0f, 1.0f,0.0f, 0.0f,-1.0f);
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PERP_TEST( 0.0f,2.0f, 1.0f,0.0f, 0.0f,1.0f);
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PERP_TEST( 0.0f,2.0f, 1.0f,2.0f, -2.0f,1.0f);
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PERP_TEST( 2.0f,0.0f, 1.0f,2.0f, 2.0f,-1.0f);
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}
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AP_GTEST_MAIN()
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int hal = 0; // bizarrely, this fixes an undefined-symbol error but doesn't raise a type exception. Yay.
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