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AP_Common: update tests for 4.1

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This commit is contained in:
Andrew Tridgell 2021-07-22 14:57:06 +10:00
parent 1d91353867
commit 8165a81256
1 changed files with 20 additions and 1 deletions
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21
libraries/AP_Common/tests/test_location.cpp
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@ -139,7 +139,7 @@ TEST(Location, LocOffsetDouble)
-353632620, 1491652373,
Vector2d{4682795.4576701336, 5953662.7673837934},
Vector2d{4682797.1904749088, 5953664.1586009059},
Vector2d{1.7365739867091179,1.7025913001452864},
Vector2d{1.7365739867091179,1.2050807},
};
for (auto &test : tests) {
@ -409,4 +409,23 @@ TEST(Location, Line)
EXPECT_TRUE(test_wp.past_interval_finish_line(test_home, test_wp_last));
}
/*
check if we obey basic euclidian geometry rules of position
addition/subtraction
*/
TEST(Location, OffsetError)
{
// test at 10km from origin
const float ofs_ne = 10e3 / sqrtf(2.0);
for (float lat = -80; lat <= 80; lat += 10.0) {
Location origin{int32_t(lat*1e7), 0, 0, Location::AltFrame::ABOVE_HOME};
Location loc = origin;
loc.offset(ofs_ne, ofs_ne);
Location loc2 = loc;
loc2.offset(-ofs_ne, -ofs_ne);
float dist = origin.get_distance(loc2);
EXPECT_FLOAT_EQ(dist, 0);
}
}
AP_GTEST_MAIN()