mirror of https://github.com/ArduPilot/ardupilot
238 lines
8.2 KiB
C++
238 lines
8.2 KiB
C++
/*
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* Copyright (C) 2015-2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <cassert>
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#include <vector>
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#include "math_test.h"
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#include <AP_Math/AP_GeodesicGrid.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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class TestParam {
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public:
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/**
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* Vector to be tested.
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*/
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Vector3f v;
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/**
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* Expected section if when AP_GeodesicGrid::section() is called with
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* inclusive set as false.
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*/
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int section;
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/**
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* Array terminated with -1. This doesn't have to be touched if #section
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* isn't negative. If #section is -1, then calling
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* AP_GeodesicGrid::section() with inclusive set as true expects a return
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* value as one of the values in #inclusive_sections.
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*/
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int inclusive_sections[7];
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};
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class GeodesicGridTest : public ::testing::TestWithParam<TestParam> {
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protected:
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/**
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* Test the functions for triangles indexes.
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*
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* @param p[in] The test parameter.
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*/
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void test_triangles_indexes(const TestParam &p) {
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if (p.section >= 0) {
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int expected_triangle =
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p.section / AP_GeodesicGrid::NUM_SUBTRIANGLES;
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int triangle = AP_GeodesicGrid::_triangle_index(p.v, false);
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ASSERT_EQ(expected_triangle, triangle);
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int expected_subtriangle =
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p.section % AP_GeodesicGrid::NUM_SUBTRIANGLES;
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int subtriangle =
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AP_GeodesicGrid::_subtriangle_index(triangle, p.v, false);
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ASSERT_EQ(expected_subtriangle, subtriangle);
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} else {
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int triangle = AP_GeodesicGrid::_triangle_index(p.v, false);
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if (triangle >= 0) {
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int subtriangle = AP_GeodesicGrid::_subtriangle_index(triangle,
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p.v,
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false);
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ASSERT_EQ(-1, subtriangle) << "triangle is " << triangle;
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}
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}
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}
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};
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static const Vector3f triangles[20][3] = {
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{{-M_GOLDEN, 1, 0}, {-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}},
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{{-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN,-1}},
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{{-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN,-1}, { 0,-M_GOLDEN, 1}},
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{{-1, 0,-M_GOLDEN}, { 0,-M_GOLDEN,-1}, { 1, 0,-M_GOLDEN}},
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{{ 0,-M_GOLDEN,-1}, { 0,-M_GOLDEN, 1}, { M_GOLDEN,-1, 0}},
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{{ 0,-M_GOLDEN,-1}, { 1, 0,-M_GOLDEN}, { M_GOLDEN,-1, 0}},
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{{ M_GOLDEN,-1, 0}, { 1, 0,-M_GOLDEN}, { M_GOLDEN, 1, 0}},
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{{ 1, 0,-M_GOLDEN}, { M_GOLDEN, 1, 0}, { 0, M_GOLDEN,-1}},
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{{ 1, 0,-M_GOLDEN}, { 0, M_GOLDEN,-1}, {-1, 0,-M_GOLDEN}},
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{{ 0, M_GOLDEN,-1}, {-M_GOLDEN, 1, 0}, {-1, 0,-M_GOLDEN}},
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{{ M_GOLDEN,-1, 0}, { 1, 0, M_GOLDEN}, { M_GOLDEN, 1, 0}},
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{{ 1, 0, M_GOLDEN}, { M_GOLDEN, 1, 0}, { 0, M_GOLDEN, 1}},
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{{ M_GOLDEN, 1, 0}, { 0, M_GOLDEN, 1}, { 0, M_GOLDEN,-1}},
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{{ 1, 0, M_GOLDEN}, { 0, M_GOLDEN, 1}, {-1, 0, M_GOLDEN}},
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{{ 0, M_GOLDEN, 1}, { 0, M_GOLDEN,-1}, {-M_GOLDEN, 1, 0}},
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{{ 0, M_GOLDEN, 1}, {-1, 0, M_GOLDEN}, {-M_GOLDEN, 1, 0}},
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{{-M_GOLDEN, 1, 0}, {-1, 0, M_GOLDEN}, {-M_GOLDEN,-1, 0}},
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{{-1, 0, M_GOLDEN}, {-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN, 1}},
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{{-1, 0, M_GOLDEN}, { 0,-M_GOLDEN, 1}, { 1, 0, M_GOLDEN}},
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{{ 0,-M_GOLDEN, 1}, { M_GOLDEN,-1, 0}, { 1, 0, M_GOLDEN}},
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};
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static bool section_triangle(unsigned int section_index,
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Vector3f &a,
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Vector3f &b,
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Vector3f &c) {
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if (section_index >= 80) {
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return false; // LCOV_EXCL_LINE
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}
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unsigned int i = section_index / 4;
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unsigned int j = section_index % 4;
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auto &t = triangles[i];
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Vector3f mt[3]{(t[0] + t[1]) / 2, (t[1] + t[2]) / 2, (t[2] + t[0]) / 2};
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switch (j) {
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case 0:
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a = mt[0];
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b = mt[1];
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c = mt[2];
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break;
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case 1:
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a = t[0];
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b = mt[0];
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c = mt[2];
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break;
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case 2:
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a = mt[0];
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b = t[1];
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c = mt[1];
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break;
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case 3:
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a = mt[2];
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b = mt[1];
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c = t[2];
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break;
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}
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return true;
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}
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AP_GTEST_PRINTATBLE_PARAM_MEMBER(TestParam, v);
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TEST_P(GeodesicGridTest, Sections)
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{
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auto p = GetParam();
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test_triangles_indexes(p);
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EXPECT_EQ(p.section, AP_GeodesicGrid::section(p.v));
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if (p.section < 0) {
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int s = AP_GeodesicGrid::section(p.v, true);
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int i;
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for (i = 0; p.inclusive_sections[i] > 0; i++) {
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assert(i < 7);
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if (s == p.inclusive_sections[i]) {
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break;
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}
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}
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if (p.inclusive_sections[i] < 0) {
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ADD_FAILURE() << "section " << s << " with inclusive=true not found in inclusive_sections"; // LCOV_EXCL_LINE
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}
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}
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}
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static TestParam icosahedron_vertices[] = {
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{{ M_GOLDEN, 1.0f, 0.0f}, -1, {27, 30, 43, 46, 49, -1}},
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{{ M_GOLDEN, -1.0f, 0.0f}, -1, {19, 23, 25, 41, 78, -1}},
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{{-M_GOLDEN, 1.0f, 0.0f}, -1, { 1, 38, 59, 63, 65, -1}},
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{{-M_GOLDEN, -1.0f, 0.0f}, -1, { 3, 6, 9, 67, 70, -1}},
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{{ 1.0f, 0.0f, M_GOLDEN}, -1, {42, 45, 53, 75, 79, -1}},
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{{-1.0f, 0.0f, M_GOLDEN}, -1, {55, 62, 66, 69, 73, -1}},
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{{ 1.0f, 0.0f, -M_GOLDEN}, -1, {15, 22, 26, 29, 33, -1}},
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{{-1.0f, 0.0f, -M_GOLDEN}, -1, { 2, 5, 13, 35, 39, -1}},
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{{0.0f, M_GOLDEN, 1.0f}, -1, {47, 50, 54, 57, 61, -1}},
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{{0.0f, M_GOLDEN, -1.0f}, -1, {31, 34, 37, 51, 58, -1}},
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{{0.0f, -M_GOLDEN, 1.0f}, -1, {11, 18, 71, 74, 77, -1}},
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{{0.0f, -M_GOLDEN, -1.0f}, -1, { 7, 10, 14, 17, 21, -1}},
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};
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INSTANTIATE_TEST_CASE_P(IcosahedronVertices,
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GeodesicGridTest,
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::testing::ValuesIn(icosahedron_vertices));
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/* Generate vectors for each triangle */
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static std::vector<TestParam> general_vectors = []()
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{
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std::vector<TestParam> params;
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for (int i = 0; i < 20 * AP_GeodesicGrid::NUM_SUBTRIANGLES; i++) {
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Vector3f a, b, c;
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TestParam p;
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section_triangle(i, a, b, c);
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p.section = i;
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/* Vector that crosses the centroid */
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p.v = a + b + c;
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params.push_back(p);
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/* Vectors that cross the triangle close to the edges */
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p.v = a + b + c * 0.001f;
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params.push_back(p);
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p.v = a + b * 0.001f + c;
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params.push_back(p);
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p.v = a * 0.001f + b + c;
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params.push_back(p);
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/* Vectors that cross the triangle close to the vertices */
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p.v = a + b * 0.001 + c * 0.001f;
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params.push_back(p);
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p.v = a * 0.001f + b + c * 0.001f;
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params.push_back(p);
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p.v = a * 0.001f + b * 0.001f + c;
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params.push_back(p);
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}
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return params;
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}();
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INSTANTIATE_TEST_CASE_P(GeneralVectors,
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GeodesicGridTest,
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::testing::ValuesIn(general_vectors));
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/* Other hardcoded vectors, so we don't rely just on the centroid vectors
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* (which are dependent on how the triangles are *defined by the
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* implementation*)
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*
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* See AP_GeodesicGrid.h for the notation on the comments below.
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*/
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static TestParam hardcoded_vectors[] = {
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/* a + 2 * m_a + .5 * m_c for T_4 */
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{{.25f * M_GOLDEN, -.25f * (13.0f * M_GOLDEN + 1.0f), - 1.25f}, 17},
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/* 3 * m_a + 2 * m_b 0 * m_c for T_4 */
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{{M_GOLDEN, -4.0f * M_GOLDEN -1.0f, 1.0f}, -1, {16, 18, -1}},
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/* 2 * m_c + (1 / 3) * m_b + .1 * c for T_13 */
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{{-.2667f, .1667f * M_GOLDEN, 2.2667f * M_GOLDEN + .1667f}, 55},
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/* .25 * m_a + 5 * b + 2 * m_b for T_8 */
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{{-.875f, 6.125f * M_GOLDEN, -1.125f * M_GOLDEN - 6.125f}, 34},
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};
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INSTANTIATE_TEST_CASE_P(HardcodedVectors,
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GeodesicGridTest,
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::testing::ValuesIn(hardcoded_vectors));
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AP_GTEST_MAIN()
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