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AP_Math: add more tests for Polygon_outside

This commit is contained in:
Peter Barker 2019-05-29 14:01:03 +10:00 committed by Peter Barker
parent da81c5fe39
commit d74e6db12e
1 changed files with 67 additions and 1 deletions
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68
libraries/AP_Math/tests/test_polygon.cpp
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@ -1,7 +1,7 @@
#include <AP_gtest.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/polygon.h>
#include <AP_Math/AP_Math.h>
struct PB {
Vector2f point;
@ -53,6 +53,72 @@ TEST(Polygon, outside)
}
}
struct SquareBoundary {
Vector2f point;
Vector2f boundary[4];
bool outside;
};
static const SquareBoundary square_boundaries[] = {
{ {1.0f,1.0f}, {{0.0f,0.0f}, {0.0f,10.0f}, {10.0, 10.0}, {10.0f,0.0f}}, false },
{ {9.0f,9.0f}, {{0.0f,0.0f}, {0.0f,10.0f}, {10.0, 10.0}, {10.0f,0.0f}}, false },
{ {1.0f,9.0f}, {{0.0f,0.0f}, {0.0f,10.0f}, {10.0, 10.0}, {10.0f,0.0f}}, false },
{ {9.0f,1.0f}, {{0.0f,0.0f}, {0.0f,10.0f}, {10.0, 10.0}, {10.0f,0.0f}}, false },
};
TEST(Polygon, square_boundaries)
{
// uint8_t count = 0;
for (const auto &pb : square_boundaries) {
// ::fprintf(stderr, "count=%u\n", count++);
Vector2f v[5];
memcpy(v, pb.boundary, sizeof(pb.boundary));
v[4] = v[0]; // close it
EXPECT_EQ(pb.outside, Polygon_outside(pb.point, v, 5));
}
}
TEST(Polygon, circle_outside_triangle)
{
const Vector2f triangle[] = {{0.0f,0.0f}, {1.0f,0.0f}, {0.0f,1.0f}};
Vector2f triangle_closed[4];
memcpy(triangle_closed, triangle, sizeof(triangle));
triangle_closed[3] = triangle_closed[0];
const float radius = 0.8f;
for (uint16_t i=0; i<360; i++) {
const float x = radius * sin(radians(i)) + 0.5f;
const float y = radius * cos(radians(i)) + 0.5f;
EXPECT_EQ(true, Polygon_outside(Vector2f{x,y}, triangle_closed, 4));
}
}
TEST(Polygon, circle_inside_triangle)
{
const Vector2f triangle[] = {{0.0f,0.0f}, {1.0f,0.0f}, {0.0f,1.0f}};
Vector2f triangle_closed[4];
memcpy(triangle_closed, triangle, sizeof(triangle));
triangle_closed[3] = triangle_closed[0];
const float radius = 0.2f;
for (uint16_t i=0; i<360; i++) {
const float x = radius * sin(radians(i)) + 0.2f;
const float y = radius * cos(radians(i)) + 0.2f;
EXPECT_EQ(false, Polygon_outside(Vector2f{x,y}, triangle_closed, 4));
}
}
TEST(Polygon, circle_outside_square)
{
const Vector2f square[] = {{0.0f,0.0f}, {0.0f,10.0f}, {10.0, 10.0}, {10.0f,0.0f}};
Vector2f square_closed[5];
memcpy(square_closed, square, sizeof(square));
square_closed[4] = square_closed[0];
const float radius = 8.0f;
for (uint16_t i=0; i<360; i++) {
const float x = radius * sin(radians(i)) + 5.0f;
const float y = radius * cos(radians(i)) + 5.0f;
EXPECT_EQ(true, Polygon_outside(Vector2f{x,y}, square_closed, 4));
}
}
struct PB_long {
Vector2l point;