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54 Commits

Author SHA1 Message Date
Andrew Tridgell dd2995af5d AP_Math: sync for 4.1.0beta releases 2021-07-22 16:01:00 +10:00
Andrew Tridgell e7afa628d1 AP_Math: allow for double EKF build 2021-07-22 16:01:00 +10:00
Rishabh b9fbf1a661 AP_Math: Update segment_to_segment_dis test 2021-06-12 13:31:52 +09:00
Pierre Kancir 519b1a6913 AP_Math: correct and increase unit test coverage 
AP_Math: correct some tests

AP_Math: more vector2 tests

AP_Math: make test_vector2 complete

AP_Math: add initial unittest for vector3
 2021-06-09 18:06:18 +10:00
Peter Barker d77d258442 AP_Math: add tests for the sqrt_controller 2021-06-04 23:00:19 +10:00
hs293go 93a13bbf0e AP_Math: Implement tests for the Quaternion class 
These tests cover Quaternion multiplication, conversion to rotation
matrix, and the optimized rotation operator
 2021-04-19 15:34:45 +10:00
Rishabh f3d825bebe AP_Math: Add unit tests for 3-D lines 2021-02-01 14:34:13 +09:00
Peter Barker c81df7b5ad AP_Math: add tests for circle-segment-intersection 2021-01-04 13:58:42 +11:00
Andrew Tridgell b6a5509409 AP_Math: added test for vector2f rotate 2020-07-06 14:46:48 +10:00
Andrew Tridgell 3e853344f3 AP_Math: avoid build warnings 2020-05-10 15:11:22 +10:00
Peter Barker 84d999142f AP_Math: add more tests for wrap functions 2019-09-18 12:57:02 +10:00
Peter Barker da5d5c9203 AP_Math: add tests for Vector2 2019-06-13 19:36:49 +10:00
Peter Barker e4de5a17d1 AP_Math: add pitch-7 to rotation tests 2019-05-29 17:12:32 +10:00
Peter Barker 977fe09276 AP_Math: add a more complex polygon for Polygon_outside tests 2019-05-29 15:34:02 +10:00
Peter Barker d3971c18fa AP_Math: more tests for closed-vs-open polygons 2019-05-29 15:34:02 +10:00
Peter Barker d74e6db12e AP_Math: add more tests for Polygon_outside 2019-05-29 15:34:02 +10:00
Peter Barker 36fe9a18a0 AP_Math: make Polygon_outside cope with being passed unclosed polygons 2019-05-29 15:34:02 +10:00
Peter Barker 64aafb2af2 AP_Math: add Polygon_outside tests for long template instantiation 2019-05-28 09:08:07 +10:00
Peter Barker b35b65eed1 AP_Math: add GTEST suite for Polygon_outside 2019-05-28 09:08:07 +10:00
Andrew Tridgell 85ce10adfd AP_Math: fixed test build 2019-05-15 15:33:48 +10:00
Peter Barker dc14d7bce4 AP_Math: add another test for wrap_360_cd 2018-10-16 10:29:24 +11:00
Peter Barker 43f3d611b2 AP_Math: pragma away the float-equal test for the maths tests 
There are legitimate reasons for doing direct equivalence in these files
 2018-08-28 09:54:47 +10:00
Peter Barker 626467db14 AP_Math: add tests for line intersection 2018-08-14 19:41:45 +10:00
Peter Barker 6af0dcfed0 AP_Math: create a constrain_int64 
The template system doesn't work across 32/64 bit builds (SITL
vs fmuv4), probably because int is typedef'd to int64
 2018-06-15 08:01:22 +10:00
Jacob Walser e738f33770 AP_Math: Add ROTATION_PITCH_315 and ROTATION_ROLL_90_PITCH_315 2018-04-24 13:04:37 +01:00
Francisco Ferreira 1ffe12008c AP_Math: adapt test for new norm method API 2017-06-21 18:19:31 +09:00
Lucas De Marchi 2b9478f430 AP_Math: tests: make both arguments double 
libraries/AP_Math/tests/test_math.cpp.3.o: In function `MathTest_IsEqual_Test::TestBody()':
test_math.cpp:(.text._ZN21MathTest_IsEqual_Test8TestBodyEv+0x1a0): undefined reference to `std::enable_if<std::is_floating_point<std::common_type<float, double>::type>::value, bool>::type is_equal<float, double>(float, double)'
collect2: error: ld returned 1 exit status
 2017-02-06 09:27:22 -08:00
Lucas De Marchi 87c82ce0c6 AP_Math: add some more tests for constrain_value() 2017-01-27 12:15:20 -08:00
Lucas De Marchi 69a9cd3625 AP_Math: add tests to is_equal() 
Contemplate the use of double values.
 2017-01-27 12:15:19 -08:00
Pierre Kancir 47f1a754c5 AP_Math: add some test for vector2 equality test 2016-12-20 14:09:04 +00:00
Pierre Kancir eae093cd2a AP_Math: add test for is_equal for int 2016-12-20 14:09:04 +00:00
Peter Barker 779f78d471 AP_Math: vector3 perpendicular function 2016-07-25 20:24:37 +09:00
Peter Barker f6cb0ffb6f AP_Math: add Vector2f perpendicular 
Add closest_distance_between_radial_and_point function
 2016-07-25 20:24:37 +09:00
Lucas De Marchi fa6f2c6b67 AP_Math: fix some coding style mistakes 
- fix alignement of &
    - remove const from bool arguments
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 9d34b3b996 AP_Math: AP_GeodesicGrid: make all methods static 
Since all members are.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b34c04a4f9 AP_Math: test_geodesic_grid: test also non-centroid vectors 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 8e8ab3af96 AP_Math: AP_GeodesicGrid: remove section_triangle() function 
That function was only being used by the unit tests and the benchmark. In order
to remove memory usage, the triangles will be removed, since we don't actually
need to keep them in real situations. Thus, this patch removes that function
and copy those triangles to the test and benchmark.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 0ff05b7af3 AP_Math: test_geodesic_grid: test triangles indexes 
That helps figuring out which intermediate step failed the high level call.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 4398e1e49b AP_Math: AP_GeodesicGrid: change order of triangles 
- Change the order of the icosahedron triangles so that there's a uniform way of
finding the opposite triangle. The order visually still makes sense.

 - Change test to accommodate the order change.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 797a2da031 AP_Math: test_geodesic_grid: test when inclusive=true 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b299261ad4 AP_Math: AP_GeodesicGrid: add first implementation 
The search for the geodesic section is still naive in this version.
Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 3f2ad764ca AP_Math: Matrix3: add inverse() and invert() functions 
Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 06eea2838f AP_Math: Matrix3: add det() function 
Function to calculate determinant. Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Lucas De Marchi 348b07609c AP_Math: remove macros from unit tests 
Avoid warnings like:

[2130/2168] Compiling libraries/AP_Math/tests/test_math.cpp
../../libraries/AP_Math/tests/test_math.cpp: In member function ‘virtual void MathTest_IsZero_Test::TestBody()’:
../../libraries/AP_Math/tests/test_math.cpp:73:196: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
../../libraries/AP_Math/tests/test_math.cpp:74:199: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]

Use EXPECT_TRUE() and EXPECT_FALSE() from gtest instead.
 2016-05-10 11:41:26 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Lucas De Marchi 880f130670 AP_Math: fix loss of precision on float addition 
When using wrap_180_cd() we are adding a small float (180 * 100) to a
possibly big number. This may lose float precision as illustrated by the
unit test failing:

    OUT: ../../libraries/AP_Math/tests/test_math.cpp:195: Failure
    OUT: Value of: wrap_180_cd(-3600000000.f)
    OUT:   Actual: -80
    OUT: Expected: 0.f
    OUT: Which is: 0
 2016-05-10 11:41:26 -03:00
dgrat 76362caee0 AP_Math: Replace wrap_* functions with template versions 2016-05-10 11:41:26 -03:00
dgrat 49cfd6fd9b AP_Math: Add gtest support for some functions 
These functions (or variants thereof) now have unit tests:

  - is_zero()
  - is_equal()
  - sq()
  - pythagorous()
  - constrain()
  - wrap_180()
  - wrap_360()

Some tests in wrap_180_cd are failing: -180 should be wrapped to 180,
not -180.
 2016-05-10 11:41:26 -03:00
Lucas De Marchi ceea7540fd AP_Math: rename test file 
This will be reused for more math tests.
 2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00