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AP_Math: add tests for Vector2

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This commit is contained in:
Peter Barker 2018-08-28 22:42:40 +10:00 committed by Peter Barker
parent fb311208ab
commit da5d5c9203
3 changed files with 65 additions and 1 deletions
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61
libraries/AP_Math/tests/test_vector2.cpp
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@ -15,4 +15,65 @@ TEST(Vector2Test, IsEqual)
EXPECT_TRUE(v_float1 == v_float1);
}
TEST(Vector2Test, angle)
{
EXPECT_FLOAT_EQ(M_PI/2, Vector2f(0, 1).angle());
EXPECT_FLOAT_EQ(M_PI/4, Vector2f(1, 1).angle());
EXPECT_FLOAT_EQ(0.0f, Vector2f(1, 0).angle());
EXPECT_FLOAT_EQ(M_PI*5/4, Vector2f(-1, -1).angle());
EXPECT_FLOAT_EQ(M_PI*5/4, Vector2f(-5, -5).angle());
}
TEST(Vector2Test, length)
{
EXPECT_FLOAT_EQ(25, Vector2f(3, 4).length_squared());
}
TEST(Vector2Test, normalized)
{
EXPECT_EQ(Vector2f(sqrtf(2)/2, sqrtf(2)/2), Vector2f(5, 5).normalized());
EXPECT_EQ(Vector2f(3, 3).normalized(), Vector2f(5, 5).normalized());
EXPECT_EQ(Vector2f(-3, 3).normalized(), Vector2f(-5, 5).normalized());
EXPECT_NE(Vector2f(-3, 3).normalized(), Vector2f(5, 5).normalized());
}
TEST(Vector2Test, reflect)
{
Vector2f reflected1 = Vector2f(3, 8);
reflected1.reflect(Vector2f(0, 1));
EXPECT_EQ(reflected1, Vector2f(-3, 8));
// colinear vectors
Vector2f reflected2 = Vector2f(3, 3);
reflected2.reflect(Vector2f(1, 1));
EXPECT_EQ(reflected2, Vector2f(3, 3));
// orthogonal vectors
Vector2f reflected3 = Vector2f(3, 3);
reflected3.reflect(Vector2f(1, -1));
EXPECT_EQ(reflected3, Vector2f(-3, -3));
}
TEST(Vector2Test, closest_point)
{
// closest_point is (p, v,w)
// the silly case:
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0}, Vector2f{0, 0})));
// on line:
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0}, Vector2f{1, 1})));
EXPECT_EQ((Vector2f{5, 5}),
(Vector2f::closest_point(Vector2f{5, 5}, Vector2f{0, 0}, Vector2f{5, 5})));
// on line but not segment:
EXPECT_EQ((Vector2f{5, 5}),
(Vector2f::closest_point(Vector2f{6, 6}, Vector2f{0, 0}, Vector2f{5, 5})));
EXPECT_EQ((Vector2f{0.5, 0.5}),
(Vector2f::closest_point(Vector2f{1,0}, Vector2f{0, 0}, Vector2f{5, 5})));
EXPECT_EQ((Vector2f{0, 1}),
(Vector2f::closest_point(Vector2f{0,0}, Vector2f{-1, 1}, Vector2f{1, 1})));
}
AP_GTEST_MAIN()

2
libraries/AP_Math/vector2.cpp
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@ -445,6 +445,8 @@ template float Vector2<float>::closest_distance_between_line_and_point(const Vec
template float Vector2<float>::closest_distance_between_line_and_point_squared(const Vector2<float> &w1, const Vector2<float> &w2, const Vector2<float> &p);
template float Vector2<float>::closest_distance_between_lines_squared(const Vector2<float> &a1,const Vector2<float> &a2,const Vector2<float> &b1,const Vector2<float> &b2);
template void Vector2<float>::reflect(const Vector2<float> &n);
template bool Vector2<long>::operator ==(const Vector2<long> &v) const;
// define for int

3
libraries/AP_Math/vector2.h
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@ -95,7 +95,8 @@ struct Vector2
// returns 0 if the vectors are parallel, and M_PI if they are antiparallel
float angle(const Vector2<T> &v2) const;
// computes the angle of this vector in radians, from -Pi to Pi
// computes the angle of this vector in radians, from 0 to 2pi,
// from a unit vector(1,0); a (1,1) vector's angle is +M_PI/4
float angle(void) const;
// check if any elements are NAN