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.
- 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.
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.
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.
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
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.
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.
While at it, check not only the values are close enough but also the
length of the vector.
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.
Change the name to follow the other names.
Lucas De Marchi
Pierre Kancir
Peter Barker
Gustavo Jose de Sousa
dgrat