ardupilot/libraries/AP_Math/tests/test_matrix3.cpp

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/*
* Copyright (C) 2016 Intel Corporation. All rights reserved.
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "math_test.h"
// given we are in the Math library, you're epected to know what
// you're doing when directly comparing floats:
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
#define AP_EXPECT_IDENTITY_MATRIX(m_) {\
EXPECT_NEAR(1.0f, m_.a.x, 1.0e-6); \
EXPECT_NEAR(0.0f, m_.a.y, 1.0e-6); \
EXPECT_NEAR(0.0f, m_.a.z, 1.0e-6); \
EXPECT_NEAR(0.0f, m_.b.x, 1.0e-6); \
EXPECT_NEAR(1.0f, m_.b.y, 1.0e-6); \
EXPECT_NEAR(0.0f, m_.b.z, 1.0e-6); \
EXPECT_NEAR(0.0f, m_.c.x, 1.0e-6); \
EXPECT_NEAR(0.0f, m_.c.y, 1.0e-6); \
EXPECT_NEAR(1.0f, m_.c.z, 1.0e-6); \
}
class TestParam {
public:
/**
* The matrix for this param.
*/
Matrix3f m;
/**
* The expected determinant for #m.
*/
float det;
};
AP_GTEST_PRINTATBLE_PARAM_MEMBER(TestParam, m);
class Matrix3fTest : public ::testing::TestWithParam<TestParam> {};
static TestParam invertible[] = {
{
.m = {
{1.0f, 2.0f, 3.0f},
{4.0f, 6.0f, 2.0f},
{9.0f, 18.0f, 27.0f}
},
.det = 0.0f,
},
};
static TestParam non_invertible[] = {
{
.m = {
{ 6.0f, 2.0f, 20.0f},
{ 1.0f, -9.0f, 4.0f},
{-4.0f, 7.0f, -27.0f}
},
.det = 732.0f,
},
{
.m = {
{-6.0f, -2.0f, -20.0f},
{-1.0f, 9.0f, -4.0f},
{ 4.0f, -7.0f, 27.0f}
},
.det = -732.0f,
},
};
TEST_P(Matrix3fTest, Determinants)
{
auto param = GetParam();
EXPECT_FLOAT_EQ(param.det, param.m.det());
}
TEST_P(Matrix3fTest, Inverses)
{
auto param = GetParam();
Matrix3f inv;
bool success = param.m.inverse(inv);
if (param.det == 0.0f) {
EXPECT_FALSE(success);
} else {
ASSERT_TRUE(success);
auto identity = inv * param.m;
AP_EXPECT_IDENTITY_MATRIX(identity);
}
}
INSTANTIATE_TEST_CASE_P(InvertibleMatrices,
Matrix3fTest,
::testing::ValuesIn(invertible));
INSTANTIATE_TEST_CASE_P(NonInvertibleMatrices,
Matrix3fTest,
::testing::ValuesIn(non_invertible));
AP_GTEST_MAIN()
#pragma GCC diagnostic pop