mirror of https://github.com/ArduPilot/ardupilot
117 lines
2.9 KiB
C++
117 lines
2.9 KiB
C++
/*
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* Copyright (C) 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 "math_test.h"
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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// given we are in the Math library, you're epected to know what
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// you're doing when directly comparing floats:
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wfloat-equal"
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#define AP_EXPECT_IDENTITY_MATRIX(m_) {\
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EXPECT_NEAR(1.0f, m_.a.x, 1.0e-6); \
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EXPECT_NEAR(0.0f, m_.a.y, 1.0e-6); \
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EXPECT_NEAR(0.0f, m_.a.z, 1.0e-6); \
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EXPECT_NEAR(0.0f, m_.b.x, 1.0e-6); \
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EXPECT_NEAR(1.0f, m_.b.y, 1.0e-6); \
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EXPECT_NEAR(0.0f, m_.b.z, 1.0e-6); \
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EXPECT_NEAR(0.0f, m_.c.x, 1.0e-6); \
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EXPECT_NEAR(0.0f, m_.c.y, 1.0e-6); \
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EXPECT_NEAR(1.0f, m_.c.z, 1.0e-6); \
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}
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class TestParam {
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public:
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/**
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* The matrix for this param.
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*/
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Matrix3f m;
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/**
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* The expected determinant for #m.
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*/
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float det;
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};
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AP_GTEST_PRINTATBLE_PARAM_MEMBER(TestParam, m);
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class Matrix3fTest : public ::testing::TestWithParam<TestParam> {};
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static TestParam invertible[] = {
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{
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.m = {
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{1.0f, 2.0f, 3.0f},
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{4.0f, 6.0f, 2.0f},
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{9.0f, 18.0f, 27.0f}
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},
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.det = 0.0f,
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},
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};
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static TestParam non_invertible[] = {
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{
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.m = {
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{ 6.0f, 2.0f, 20.0f},
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{ 1.0f, -9.0f, 4.0f},
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{-4.0f, 7.0f, -27.0f}
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},
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.det = 732.0f,
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},
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{
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.m = {
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{-6.0f, -2.0f, -20.0f},
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{-1.0f, 9.0f, -4.0f},
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{ 4.0f, -7.0f, 27.0f}
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},
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.det = -732.0f,
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},
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};
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TEST_P(Matrix3fTest, Determinants)
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{
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auto param = GetParam();
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EXPECT_FLOAT_EQ(param.det, param.m.det());
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}
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TEST_P(Matrix3fTest, Inverses)
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{
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auto param = GetParam();
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Matrix3f inv;
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bool success = param.m.inverse(inv);
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if (param.det == 0.0f) {
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EXPECT_FALSE(success);
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} else {
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ASSERT_TRUE(success);
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auto identity = inv * param.m;
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AP_EXPECT_IDENTITY_MATRIX(identity);
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}
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}
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INSTANTIATE_TEST_CASE_P(InvertibleMatrices,
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Matrix3fTest,
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::testing::ValuesIn(invertible));
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INSTANTIATE_TEST_CASE_P(NonInvertibleMatrices,
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Matrix3fTest,
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::testing::ValuesIn(non_invertible));
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AP_GTEST_MAIN()
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#pragma GCC diagnostic pop
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