Matrix: convert vector test to gtest

src/lib/matrix/test/CMakeLists.txt

@@ -6,7 +6,6 @@ add_compile_options(
 )
 
 set(tests
-    vector
 )
 
 add_custom_target(test_build)
@@ -40,6 +39,7 @@ px4_add_unit_gtest(SRC MatrixSliceTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixSquareTest.cpp)
 px4_add_unit_gtest(SRC MatrixTransposeTest.cpp)
+px4_add_unit_gtest(SRC MatrixVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
 px4_add_unit_gtest(SRC MatrixUpperRightTriangleTest.cpp)
 px4_add_unit_gtest(SRC MatrixVector2Test.cpp)

src/lib/matrix/test/MatrixVectorTest.cpp

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

src/lib/matrix/test/vector.cpp

@@ -1,47 +0,0 @@
-#include "test_macros.hpp"
-
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	// test data
-	float data1[] = {1, 2, 3, 4, 5};
-	float data2[] = {6, 7, 8, 9, 10};
-	Vector<float, 5> v1(data1);
-	Vector<float, 5> v2(data2);
-
-	// copy constructor
-	Vector<float, 5> v3(v2);
-	TEST(isEqual(v2, v3));
-
-	// norm, dot product
-	TEST(isEqualF(v1.norm(), 7.416198487095663f));
-	TEST(isEqualF(v1.norm_squared(), v1.norm() * v1.norm()));
-	TEST(isEqualF(v1.norm(), v1.length()));
-	TEST(isEqualF(v1.dot(v2), 130.0f));
-	TEST(isEqualF(v1.dot(v2), v1 * v2));
-
-	// unit, unit_zero, normalize
-	TEST(isEqualF(v2.unit().norm(), 1.f));
-	TEST(isEqualF(v2.unit_or_zero().norm(), 1.f));
-	TEST(isEqualF(Vector<float, 5>().unit_or_zero().norm(), 0.f));
-	v2.normalize();
-	TEST(isEqualF(v2.norm(), 1.f));
-
-	// sqrt
-	float data1_sq[] = {1, 4, 9, 16, 25};
-	Vector<float, 5> v4(data1_sq);
-	TEST(isEqual(v1, v4.sqrt()));
-
-	// longerThan
-	Vector<float, 2> v5;
-	v5(0) = 3;
-	v5(1) = 4;
-	TEST(v5.longerThan(4.99f));
-	TEST(!v5.longerThan(5.f));
-
-	return 0;
-}
-