forked from Archive/PX4-Autopilot
Matrix: convert vector test to gtest
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@ -6,7 +6,6 @@ add_compile_options(
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)
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set(tests
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vector
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)
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add_custom_target(test_build)
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@ -40,6 +39,7 @@ px4_add_unit_gtest(SRC MatrixSliceTest.cpp)
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px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
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px4_add_unit_gtest(SRC MatrixSquareTest.cpp)
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px4_add_unit_gtest(SRC MatrixTransposeTest.cpp)
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px4_add_unit_gtest(SRC MatrixVectorTest.cpp)
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px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
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px4_add_unit_gtest(SRC MatrixUpperRightTriangleTest.cpp)
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px4_add_unit_gtest(SRC MatrixVector2Test.cpp)
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@ -0,0 +1,76 @@
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/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <matrix/math.hpp>
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using namespace matrix;
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TEST(MatrixVectorTest, Vector)
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{
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// test data
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float data1[] = {1, 2, 3, 4, 5};
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float data2[] = {6, 7, 8, 9, 10};
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Vector<float, 5> v1(data1);
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Vector<float, 5> v2(data2);
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// copy constructor
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Vector<float, 5> v3(v2);
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EXPECT_EQ(v2, v3);
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// norm, dot product
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EXPECT_FLOAT_EQ(v1.norm(), 7.416198487095663f);
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EXPECT_FLOAT_EQ(v1.norm_squared(), v1.norm() * v1.norm());
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EXPECT_FLOAT_EQ(v1.norm(), v1.length());
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EXPECT_FLOAT_EQ(v1.dot(v2), 130.0f);
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EXPECT_FLOAT_EQ(v1.dot(v2), v1 * v2);
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// unit, unit_zero, normalize
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EXPECT_FLOAT_EQ(v2.unit().norm(), 1.f);
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EXPECT_FLOAT_EQ(v2.unit_or_zero().norm(), 1.f);
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EXPECT_FLOAT_EQ((Vector<float, 5>().unit_or_zero().norm()), 0.f);
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v2.normalize();
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EXPECT_FLOAT_EQ(v2.norm(), 1.f);
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// sqrt
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float data1_sq[] = {1, 4, 9, 16, 25};
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Vector<float, 5> v4(data1_sq);
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EXPECT_EQ(v1, v4.sqrt());
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// longerThan
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Vector<float, 2> v5;
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v5(0) = 3;
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v5(1) = 4;
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EXPECT_TRUE(v5.longerThan(4.99f));
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EXPECT_FALSE(v5.longerThan(5.f));
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}
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@ -1,47 +0,0 @@
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#include "test_macros.hpp"
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#include <matrix/math.hpp>
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using namespace matrix;
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int main()
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{
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// test data
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float data1[] = {1, 2, 3, 4, 5};
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float data2[] = {6, 7, 8, 9, 10};
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Vector<float, 5> v1(data1);
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Vector<float, 5> v2(data2);
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// copy constructor
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Vector<float, 5> v3(v2);
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TEST(isEqual(v2, v3));
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// norm, dot product
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TEST(isEqualF(v1.norm(), 7.416198487095663f));
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TEST(isEqualF(v1.norm_squared(), v1.norm() * v1.norm()));
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TEST(isEqualF(v1.norm(), v1.length()));
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TEST(isEqualF(v1.dot(v2), 130.0f));
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TEST(isEqualF(v1.dot(v2), v1 * v2));
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// unit, unit_zero, normalize
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TEST(isEqualF(v2.unit().norm(), 1.f));
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TEST(isEqualF(v2.unit_or_zero().norm(), 1.f));
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TEST(isEqualF(Vector<float, 5>().unit_or_zero().norm(), 0.f));
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v2.normalize();
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TEST(isEqualF(v2.norm(), 1.f));
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// sqrt
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float data1_sq[] = {1, 4, 9, 16, 25};
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Vector<float, 5> v4(data1_sq);
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TEST(isEqual(v1, v4.sqrt()));
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// longerThan
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Vector<float, 2> v5;
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v5(0) = 3;
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v5(1) = 4;
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TEST(v5.longerThan(4.99f));
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TEST(!v5.longerThan(5.f));
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return 0;
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}
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