Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Math: add more tests for wrap functions

Browse Source
This commit is contained in:
Peter Barker 2019-09-17 19:50:09 +10:00 committed by Andrew Tridgell
parent 3ae1a3dccf
commit 818402ab99
1 changed files with 22 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/AP_Math/tests/test_math.cpp
View File

@ -238,6 +238,17 @@ TEST(MathWrapTest, Angle180)
EXPECT_EQ(9000.f, wrap_180_cd(-27000.f));
EXPECT_EQ(0.f, wrap_180_cd(-36000.f));
EXPECT_EQ(0.f, wrap_180_cd(-72000.f));
EXPECT_EQ(45, wrap_180(int16_t(45)));
EXPECT_EQ(90, wrap_180(int16_t(90)));
EXPECT_EQ(180, wrap_180(int16_t(180)));
EXPECT_EQ(-179, wrap_180(int16_t(181)));
EXPECT_EQ(-90, wrap_180(int16_t(270)));
EXPECT_EQ(0, wrap_180(int16_t(360)));
EXPECT_EQ(0, wrap_180(int16_t(720)));
EXPECT_EQ(0, wrap_180(int16_t(3600)));
EXPECT_EQ(0, wrap_180((int16_t(7200))));
EXPECT_EQ(0, wrap_180((int16_t)-3600));
}
TEST(MathWrapTest, Angle360)
@ -277,6 +288,17 @@ TEST(MathWrapTest, Angle360)
EXPECT_EQ(0.f, wrap_360_cd(-36000.f));
EXPECT_EQ(35995.0f,wrap_360_cd(-36005.f));
EXPECT_EQ(0.f, wrap_360_cd(-72000.f));
EXPECT_EQ(45, wrap_360((int16_t)45));
EXPECT_EQ(90, wrap_360((int16_t)90));
EXPECT_EQ(180, wrap_360((int16_t)180));
EXPECT_EQ(270, wrap_360((int16_t)270));
EXPECT_EQ(0, wrap_360((int16_t)360));
EXPECT_EQ(1, wrap_360((int16_t)361));
EXPECT_EQ(0, wrap_360((int16_t)720));
EXPECT_EQ(0, wrap_360((int16_t)3600));
EXPECT_EQ(0, wrap_360((int16_t)7200));
}
TEST(MathWrapTest, AnglePI)