mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.5 KiB
C++
86 lines
2.5 KiB
C++
#include <AP_gtest.h>
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#include <AP_Math/AP_Math.h>
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TEST(Vector2Test, IsEqual)
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{
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Vector2l v_int1(1, 1);
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Vector2l v_int2(1, 0);
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Vector2f v_float1(1.0f, 1.0f);
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Vector2f v_float2(1.0f, 0.0f);
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EXPECT_FALSE(v_int1 == v_int2);
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EXPECT_TRUE(v_int1 == v_int1);
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EXPECT_FALSE(v_float1 == v_float2);
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EXPECT_TRUE(v_float1 == v_float1);
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}
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TEST(Vector2Test, angle)
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{
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EXPECT_FLOAT_EQ(M_PI/2, Vector2f(0, 1).angle());
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EXPECT_FLOAT_EQ(M_PI/4, Vector2f(1, 1).angle());
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EXPECT_FLOAT_EQ(0.0f, Vector2f(1, 0).angle());
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EXPECT_FLOAT_EQ(M_PI*5/4, Vector2f(-1, -1).angle());
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EXPECT_FLOAT_EQ(M_PI*5/4, Vector2f(-5, -5).angle());
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}
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TEST(Vector2Test, length)
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{
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EXPECT_FLOAT_EQ(25, Vector2f(3, 4).length_squared());
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}
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TEST(Vector2Test, normalized)
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{
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EXPECT_EQ(Vector2f(sqrtf(2)/2, sqrtf(2)/2), Vector2f(5, 5).normalized());
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EXPECT_EQ(Vector2f(3, 3).normalized(), Vector2f(5, 5).normalized());
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EXPECT_EQ(Vector2f(-3, 3).normalized(), Vector2f(-5, 5).normalized());
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EXPECT_NE(Vector2f(-3, 3).normalized(), Vector2f(5, 5).normalized());
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}
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TEST(Vector2Test, reflect)
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{
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Vector2f reflected1 = Vector2f(3, 8);
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reflected1.reflect(Vector2f(0, 1));
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EXPECT_EQ(reflected1, Vector2f(-3, 8));
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// colinear vectors
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Vector2f reflected2 = Vector2f(3, 3);
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reflected2.reflect(Vector2f(1, 1));
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EXPECT_EQ(reflected2, Vector2f(3, 3));
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// orthogonal vectors
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Vector2f reflected3 = Vector2f(3, 3);
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reflected3.reflect(Vector2f(1, -1));
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EXPECT_EQ(reflected3, Vector2f(-3, -3));
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// rotation
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Vector2f base = Vector2f(2, 1);
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base.rotate(radians(90));
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EXPECT_FLOAT_EQ(base.x, -1);
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EXPECT_FLOAT_EQ(base.y, 2);
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}
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TEST(Vector2Test, closest_point)
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{
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// closest_point is (p, v,w)
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// the silly case:
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EXPECT_EQ((Vector2f{0, 0}),
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(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0}, Vector2f{0, 0})));
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// on line:
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EXPECT_EQ((Vector2f{0, 0}),
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(Vector2f::closest_point(Vector2f{0, 0}, Vector2f{0, 0}, Vector2f{1, 1})));
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EXPECT_EQ((Vector2f{5, 5}),
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(Vector2f::closest_point(Vector2f{5, 5}, Vector2f{0, 0}, Vector2f{5, 5})));
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// on line but not segment:
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EXPECT_EQ((Vector2f{5, 5}),
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(Vector2f::closest_point(Vector2f{6, 6}, Vector2f{0, 0}, Vector2f{5, 5})));
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EXPECT_EQ((Vector2f{0.5, 0.5}),
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(Vector2f::closest_point(Vector2f{1,0}, Vector2f{0, 0}, Vector2f{5, 5})));
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EXPECT_EQ((Vector2f{0, 1}),
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(Vector2f::closest_point(Vector2f{0,0}, Vector2f{-1, 1}, Vector2f{1, 1})));
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}
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AP_GTEST_MAIN()
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