ardupilot/libraries/AP_Math/tests/test_vector2.cpp

328 lines
11 KiB
C++

#include <AP_gtest.h>
#include <AP_Math/AP_Math.h>
TEST(Vector2Test, Operator)
{
Vector2f v_float0{1.0f, 1.0f};
EXPECT_FALSE(v_float0.is_zero());
v_float0 = Vector2f();
EXPECT_TRUE(v_float0.is_zero());
v_float0[1] = 1.0f;
EXPECT_FALSE(v_float0.is_zero());
const float testf1 = v_float0[1];
EXPECT_TRUE(is_equal(testf1, 1.0f));
v_float0.zero();
EXPECT_TRUE(v_float0.is_zero());
Vector2i v_inti1{1, 1};
EXPECT_FALSE(v_inti1.is_zero());
v_inti1 = Vector2i();
EXPECT_TRUE(v_inti1.is_zero());
v_inti1[0] = 1;
EXPECT_FALSE(v_inti1.is_zero());
const int16_t testi1 = v_inti1[0];
EXPECT_TRUE(1 == testi1);
v_inti1.zero();
EXPECT_TRUE(v_inti1.is_zero());
Vector2ui v_uinti1{1u, 1u};
EXPECT_FALSE(v_uinti1.is_zero());
v_uinti1 = Vector2ui();
EXPECT_TRUE(v_uinti1.is_zero());
v_uinti1[0] = 1u;
EXPECT_FALSE(v_uinti1.is_zero());
const uint16_t testui1 = v_uinti1[0];
EXPECT_TRUE(1u == testui1);
v_uinti1.zero();
EXPECT_TRUE(v_uinti1.is_zero());
Vector2l v_intl1{1, 1};
EXPECT_FALSE(v_intl1.is_zero());
v_intl1 = Vector2l();
EXPECT_TRUE(v_intl1.is_zero());
v_intl1[0] = 1;
EXPECT_FALSE(v_intl1.is_zero());
const int32_t testl1 = v_intl1[0];
EXPECT_TRUE(1 == testl1);
v_intl1.zero();
EXPECT_TRUE(v_intl1.is_zero());
Vector2ul v_uint1l{1, 1};
EXPECT_FALSE(v_uint1l.is_zero());
v_uint1l = Vector2ul();
EXPECT_TRUE(v_uint1l.is_zero());
v_uint1l[0] = 1;
EXPECT_FALSE(v_uint1l.is_zero());
const uint32_t testul1 = v_uint1l[0];
EXPECT_TRUE(1 == testul1);
v_uint1l.zero();
EXPECT_TRUE(v_uint1l.is_zero());
Vector2f v_float1(1.0f, 1.0f);
Vector2f v_float2(1.0f, 0.0f);
EXPECT_FLOAT_EQ(1.0f, v_float1 * v_float2);
EXPECT_FLOAT_EQ(-1.0f, v_float1 % v_float2);
v_float1 *= 2.0f;
EXPECT_TRUE(Vector2f(2.0f, 2.0f) == v_float1);
v_float1 /= 2.0f;
EXPECT_TRUE(Vector2f(1.0f, 1.0f) == v_float1);
v_float1 -= v_float2;
EXPECT_TRUE(Vector2f(0.0f, 1.0f) == v_float1);
v_float1 += v_float2;
EXPECT_TRUE(Vector2f(1.0f, 1.0f) == v_float1);
EXPECT_TRUE(Vector2f(nanf("0x4152"), 1.0f).is_nan());
EXPECT_TRUE(Vector2f(1.0f / 0.0f, 1.0f).is_inf());
EXPECT_TRUE(Vector2f(2.0f, 2.0f) / 2.0f == v_float1);
EXPECT_TRUE(Vector2f(2.0f, 2.0f) == v_float1 * 2.0f);
EXPECT_TRUE(Vector2f(2.0f, 2.0f) - v_float1 == v_float1);
EXPECT_TRUE(Vector2f(2.0f, 2.0f) == v_float1 + v_float1);
EXPECT_TRUE(Vector2f(-1.0f, -1.0f) == -v_float1);
v_float1.zero();
EXPECT_TRUE(v_float1.is_zero());
}
TEST(Vector2Test, IsEqual)
{
Vector2l v_int1(1, 1);
Vector2l v_int2(1, 0);
Vector2<long> v_long1(1, 1);
Vector2<long> v_long2(1, 0);
Vector2f v_float1(1.0f, 1.0f);
Vector2f v_float2(1.0f, 0.0f);
EXPECT_FALSE(v_int1 == v_int2);
EXPECT_TRUE(v_int1 == v_int1);
EXPECT_TRUE(v_int1 != v_int2);
EXPECT_FALSE(v_int1 != v_int1);
EXPECT_FALSE(v_long1 == v_long2);
EXPECT_TRUE(v_long1 == v_long1);
EXPECT_TRUE(v_long1 != v_long2);
EXPECT_FALSE(v_long1 != v_long1);
EXPECT_FALSE(v_float1 == v_float2);
EXPECT_TRUE(v_float1 == v_float1);
EXPECT_TRUE(v_float1 != v_float2);
EXPECT_FALSE(v_float1 != v_float1);
}
TEST(Vector2Test, angle)
{
EXPECT_FLOAT_EQ(M_PI/2, Vector2f(0, 1).angle());
EXPECT_FLOAT_EQ(M_PI/4, Vector2f(1, 1).angle());
EXPECT_FLOAT_EQ(0.0f, Vector2d(1, 0).angle());
EXPECT_FLOAT_EQ(M_PI*5/4, Vector2f(-1, -1).angle());
EXPECT_FLOAT_EQ(M_PI*5/4, Vector2f(-5, -5).angle());
EXPECT_FLOAT_EQ(M_PI/2, Vector2f(0.0f, 1.0f).angle(Vector2f(1.0f, 0.0f)));
EXPECT_FLOAT_EQ(0.0f, Vector2f(0.5f, 0.5f).angle(Vector2f(0.5f, 0.5f)));
EXPECT_FLOAT_EQ(M_PI, Vector2f(0.5f, -0.5f).angle(Vector2f(-0.5f, 0.5f)));
EXPECT_FLOAT_EQ(0.0f, Vector2f(-0.0f, 0).angle(Vector2f(0.0f, 1.0f)));
}
TEST(Vector2Test, length)
{
EXPECT_FLOAT_EQ(25, Vector2f(3, 4).length_squared());
Vector2f v_float1(1.0f, 1.0f);
EXPECT_TRUE(v_float1.limit_length(1.0f));
EXPECT_FALSE(Vector2f(-0.0f, 0.0f).limit_length(1.0f));
}
TEST(Vector2Test, normalized)
{
Vector2f v_float1(3.0f, 3.0f);
v_float1.normalize();
EXPECT_EQ(Vector2f(3.0f, 3.0f).normalized(), v_float1);
EXPECT_EQ(Vector2f(sqrtf(2)/2, sqrtf(2)/2), Vector2f(5, 5).normalized());
EXPECT_EQ(Vector2f(3, 3).normalized(), Vector2f(5, 5).normalized());
EXPECT_EQ(Vector2f(-3, 3).normalized(), Vector2f(-5, 5).normalized());
EXPECT_NE(Vector2f(-3, 3).normalized(), Vector2f(5, 5).normalized());
}
TEST(Vector2Test, Project)
{
Vector2f v_float1(1.0f, 1.0f);
Vector2f v_float2(2.0f, 1.0f);
v_float1.project(v_float2);
EXPECT_EQ(Vector2f(1.0f, 1.0f).projected(v_float2), v_float1);
}
TEST(Vector2Test, reflect)
{
Vector2f reflected1 = Vector2f(3, 8);
reflected1.reflect(Vector2f(0, 1));
EXPECT_EQ(reflected1, Vector2f(-3, 8));
// colinear vectors
Vector2f reflected2 = Vector2f(3, 3);
reflected2.reflect(Vector2f(1, 1));
EXPECT_EQ(reflected2, Vector2f(3, 3));
// orthogonal vectors
Vector2f reflected3 = Vector2f(3, 3);
reflected3.reflect(Vector2f(1, -1));
EXPECT_EQ(reflected3, Vector2f(-3, -3));
// rotation
Vector2f base = Vector2f(2, 1);
base.rotate(radians(90));
EXPECT_FLOAT_EQ(base.x, -1);
EXPECT_FLOAT_EQ(base.y, 2);
}
TEST(Vector2Test, Offset_bearing)
{
Vector2f v_float1(1.0f, 0.0f);
v_float1.offset_bearing(0.0f, 1.0f);
EXPECT_EQ(Vector2f(2.0f, 0.0f), v_float1);
}
TEST(Vector2Test, Perpendicular)
{
Vector2f v_float1(1.0f, 1.0f);
EXPECT_EQ(Vector2f(0.0f, 2.0f), v_float1.perpendicular(v_float1, Vector2f(2.0f, 0.0f)));
EXPECT_EQ(Vector2f(2.0f, 0.0f), v_float1.perpendicular(v_float1, Vector2f(0.0f, 2.0f)));
}
TEST(Vector2Test, closest_point)
{
// closest_point is (p, v,w)
// the silly case:
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0}, Vector2f{0, 0})));
// on line:
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0}, Vector2f{1, 1})));
EXPECT_EQ((Vector2f{5, 5}),
(Vector2f::closest_point(Vector2f{5, 5}, Vector2f{0, 0}, Vector2f{5, 5})));
// on line but not segment:
EXPECT_EQ((Vector2f{5, 5}),
(Vector2f::closest_point(Vector2f{6, 6}, Vector2f{0, 0}, Vector2f{5, 5})));
EXPECT_EQ((Vector2f{0.5, 0.5}),
(Vector2f::closest_point(Vector2f{1,0}, Vector2f{0, 0}, Vector2f{5, 5})));
EXPECT_EQ((Vector2f{0, 1}),
(Vector2f::closest_point(Vector2f{0,0}, Vector2f{-1, 1}, Vector2f{1, 1})));
// to (0,w)
// the silly case:
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0})));
// on line:
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{1, 1})));
EXPECT_EQ((Vector2f{5, 5}),
(Vector2f::closest_point(Vector2f{5, 5}, Vector2f{5, 5})));
// on line but not segment:
EXPECT_EQ((Vector2f{5, 5}),
(Vector2f::closest_point(Vector2f{6, 6}, Vector2f{5, 5})));
EXPECT_EQ((Vector2f{0.5, 0.5}),
(Vector2f::closest_point(Vector2f{1,0}, Vector2f{5, 5})));
EXPECT_EQ((Vector2f{0, 0}),
(Vector2f::closest_point(Vector2f{0,0}, Vector2f{1, 1})));
}
TEST(Vector2Test, closest_distance)
{
EXPECT_FLOAT_EQ(1.0f, Vector2f::closest_distance_between_line_and_point_squared(Vector2f{0,0}, Vector2f{1, 0}, Vector2f{0, 1}));
EXPECT_FLOAT_EQ(1.0f, Vector2f::closest_distance_between_line_and_point(Vector2f{0,0}, Vector2f{1, 0}, Vector2f{0, 1}));
EXPECT_FLOAT_EQ(1.0f, Vector2f::closest_distance_between_lines_squared(Vector2f{0,0}, Vector2f{1, 0}, Vector2f{0, 1}, Vector2f{1, 1}));
EXPECT_FLOAT_EQ(1.0f, Vector2f::closest_distance_between_radial_and_point_squared(Vector2f{0, 1}, Vector2f{1, 1}));
EXPECT_FLOAT_EQ(1.0f, Vector2f::closest_distance_between_radial_and_point(Vector2f{0, 1}, Vector2f{1, 1}));
}
TEST(Vector2Test, segment_intersectionx)
{
Vector2f intersection;
EXPECT_EQ(Vector2f::segment_intersection(
Vector2f{-1.0f, 0.0f}, // seg start
Vector2f{1.0f, 0.0f}, // seg end
Vector2f{0.0f, -1.0f}, // seg start
Vector2f{0.0f, 1.0f}, // seg end
intersection // return value for intersection point
), true);
EXPECT_EQ(intersection, Vector2f(0.0f, 0.0f));
EXPECT_EQ(Vector2f::segment_intersection(
Vector2f{1.0f, 0.0f}, // seg start
Vector2f{2.0f, 0.0f}, // seg end
Vector2f{0.0f, -1.0f}, // seg start
Vector2f{0.0f, 1.0f}, // seg end
intersection // return value for intersection point
), false);
EXPECT_EQ(Vector2f::segment_intersection(
Vector2f{1.0f, 0.0f}, // seg start
Vector2f{2.0f, 0.0f}, // seg end
Vector2f{1.0f, 1.0f}, // seg start
Vector2f{2.0f, 1.0f}, // seg end
intersection // return value for intersection point
), false);
}
TEST(Vector2Test, circle_segment_intersectionx)
{
Vector2f intersection;
EXPECT_EQ(Vector2f::circle_segment_intersection(
Vector2f{0,0}, // seg start
Vector2f{1,1}, // seg end
Vector2f{0,0}, // circle center
0.5, // circle radius
intersection // return value for intersection point
), true);
EXPECT_EQ(intersection, Vector2f(sqrtf(0.5)/2,sqrtf(0.5)/2));
EXPECT_EQ(Vector2f::circle_segment_intersection(
Vector2f{std::numeric_limits<float>::quiet_NaN(),
std::numeric_limits<float>::quiet_NaN()}, // seg start
Vector2f{1,1}, // seg end
Vector2f{0,0}, // circle center
0.5, // circle radius
intersection // return value for intersection point
), false);
}
TEST(Vector2Test, point_on_segmentx)
{
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{0.0f, 1.0f}, // point
Vector2f{0.0f, 0.0f}, // seg start
Vector2f{0.0f, 2.0f} // seg end
), true);
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{1.0f, 1.0f}, // point
Vector2f{0.0f, 0.0f}, // seg start
Vector2f{0.0f, 2.0f} // seg end
), false);
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{1.0f, 1.0f}, // point
Vector2f{0.0f, 0.0f}, // seg start
Vector2f{3.0f, 1.0f} // seg end
), false);
printf("4\n");
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{1.0f, 0.0f}, // point
Vector2f{2.0f, 1.0f}, // seg start
Vector2f{3.0f, 2.0f} // seg end
), false);
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{5.0f, 0.0f}, // point
Vector2f{4.0f, 1.0f}, // seg start
Vector2f{3.0f, 2.0f} // seg end
), false);
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{3.0f, 0.0f}, // point
Vector2f{3.0f, 1.0f}, // seg start
Vector2f{3.0f, 2.0f} // seg end
), false);
EXPECT_EQ(Vector2f::point_on_segment(
Vector2f{3.0f, 0.0f}, // point
Vector2f{3.0f, 2.0f}, // seg start
Vector2f{3.0f, 1.0f} // seg end
), false);
}
AP_GTEST_MAIN()