mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.5 KiB
C++
62 lines
2.5 KiB
C++
#include <AP_gtest.h>
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#include <AP_Math/AP_Math.h>
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#define SQRT_2 1.4142135623730951f
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TEST(VectorTest, Rotations)
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{
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unsigned rotation_count = 0;
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#define TEST_ROTATION(rotation, x, y, z) { \
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Vector3f v(1, 1, 1); \
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v.rotate(rotation); \
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EXPECT_EQ(Vector3f(x, y, z), v); \
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rotation_count++; \
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}
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TEST_ROTATION(ROTATION_NONE, 1, 1, 1);
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TEST_ROTATION(ROTATION_YAW_45, 0, SQRT_2, 1);
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TEST_ROTATION(ROTATION_YAW_90, -1, 1, 1);
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TEST_ROTATION(ROTATION_YAW_135, -SQRT_2, 0, 1);
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TEST_ROTATION(ROTATION_YAW_180, -1, -1, 1);
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TEST_ROTATION(ROTATION_YAW_225, 0, -SQRT_2, 1);
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TEST_ROTATION(ROTATION_YAW_270, 1, -1, 1);
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TEST_ROTATION(ROTATION_YAW_315, SQRT_2, 0, 1);
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TEST_ROTATION(ROTATION_ROLL_180, 1, -1, -1);
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TEST_ROTATION(ROTATION_ROLL_180_YAW_45, SQRT_2, 0, -1);
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TEST_ROTATION(ROTATION_ROLL_180_YAW_90, 1, 1, -1);
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TEST_ROTATION(ROTATION_ROLL_180_YAW_135, 0, SQRT_2, -1);
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TEST_ROTATION(ROTATION_PITCH_180, -1, 1, -1);
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TEST_ROTATION(ROTATION_ROLL_180_YAW_225, -SQRT_2, 0, -1);
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TEST_ROTATION(ROTATION_ROLL_180_YAW_270, -1, -1, -1);
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TEST_ROTATION(ROTATION_ROLL_180_YAW_315, 0, -SQRT_2, -1);
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TEST_ROTATION(ROTATION_ROLL_90, 1, -1, 1);
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TEST_ROTATION(ROTATION_ROLL_90_YAW_45, SQRT_2, 0, 1);
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TEST_ROTATION(ROTATION_ROLL_90_YAW_90, 1, 1, 1);
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TEST_ROTATION(ROTATION_ROLL_90_YAW_135, 0, SQRT_2, 1);
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TEST_ROTATION(ROTATION_ROLL_270, 1, 1, -1);
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TEST_ROTATION(ROTATION_ROLL_270_YAW_45, 0, SQRT_2, -1);
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TEST_ROTATION(ROTATION_ROLL_270_YAW_90, -1, 1, -1);
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TEST_ROTATION(ROTATION_ROLL_270_YAW_135, -SQRT_2, 0, -1);
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TEST_ROTATION(ROTATION_PITCH_90, 1, 1, -1);
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TEST_ROTATION(ROTATION_PITCH_270, -1, 1, 1);
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TEST_ROTATION(ROTATION_PITCH_180_YAW_90, -1, -1, -1);
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TEST_ROTATION(ROTATION_PITCH_180_YAW_270, 1, 1, -1);
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TEST_ROTATION(ROTATION_ROLL_90_PITCH_90, 1, -1, -1);
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TEST_ROTATION(ROTATION_ROLL_180_PITCH_90, -1, -1, -1);
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TEST_ROTATION(ROTATION_ROLL_270_PITCH_90, -1, 1, -1);
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TEST_ROTATION(ROTATION_ROLL_90_PITCH_180, -1, -1, -1);
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TEST_ROTATION(ROTATION_ROLL_270_PITCH_180, -1, 1, 1);
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TEST_ROTATION(ROTATION_ROLL_90_PITCH_270, -1, -1, 1);
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TEST_ROTATION(ROTATION_ROLL_180_PITCH_270, 1, -1, 1);
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TEST_ROTATION(ROTATION_ROLL_270_PITCH_270, 1, 1, 1);
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TEST_ROTATION(ROTATION_ROLL_90_PITCH_180_YAW_90, 1, -1, -1);
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TEST_ROTATION(ROTATION_ROLL_90_YAW_270, -1, -1, 1);
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TEST_ROTATION(ROTATION_YAW_293_PITCH_68_ROLL_90, -0.4118548f, -1.58903555f, -0.55257726f);
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EXPECT_EQ(ROTATION_MAX, rotation_count) << "All rotations are expect to be tested";
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}
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AP_GTEST_MAIN()
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