Commit Graph

34 Commits

Author SHA1 Message Date
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
Gustavo Jose de Sousa a2d2661765 waf: use methods from bld instead of ardupilotwaf for the remaining 2016-01-22 20:10:29 -02:00
Lucas De Marchi 180359d6dd AP_Math: fix unit test
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.
2015-12-30 20:22:28 -02:00
Lucas De Marchi ba3325ffd3 AP_Math: rename rotation
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.
2015-12-30 20:22:27 -02:00
Gustavo Jose de Sousa 4266e924d0 AP_Math: add unit test for vector rotations
This unit test already shows that rotation is wrong for
ROTATION_YAW_293_PITCH_68_ROLL_90.
2015-12-03 07:54:31 +11:00