forked from Archive/PX4-Autopilot
Matrix: convert assignment test to gtest
This commit is contained in:
Matthias Grob
parent
fa35635486
commit
c33bf5b705
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@ -47,6 +47,11 @@ public:
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return m;
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}
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bool operator==(const float other) const
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{
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return isEqualF(_value, other);
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}
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private:
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const Type _value;
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@ -11,7 +11,6 @@ set(tests
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slice
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matrixMult
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vectorAssignment
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matrixAssignment
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matrixScalarMult
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transpose
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vector
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@ -43,5 +42,6 @@ foreach(test_name ${tests})
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add_dependencies(test_results test-matrix_${test_name})
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endforeach()
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px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)
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px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
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px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
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@ -1,11 +1,42 @@
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#include "test_macros.hpp"
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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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template class matrix::Matrix<float, 3, 2>;
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int main()
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TEST(MatrixAssignmentTest, Assignment)
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{
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Matrix3f m;
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m.setZero();
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@ -25,7 +56,7 @@ int main()
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for (size_t i = 0; i < 3; i++) {
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for (size_t j = 0; j < 3; j++) {
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TEST(fabs(data[i * 3 + j] - m2(i, j)) < FLT_EPSILON);
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EXPECT_FLOAT_EQ(data[i * 3 + j], m2(i, j));
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}
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}
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@ -34,11 +65,11 @@ int main()
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for (size_t i = 0; i < 3; i++) {
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for (size_t j = 0; j < 3; j++) {
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TEST(isnan(m_nan(i, j)));
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EXPECT_TRUE(isnan(m_nan(i, j)));
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}
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}
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TEST(m_nan.isAllNan());
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EXPECT_TRUE(m_nan.isAllNan());
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float data2d[3][3] = {
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{1, 2, 3},
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@ -49,32 +80,32 @@ int main()
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for (size_t i = 0; i < 3; i++) {
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for (size_t j = 0; j < 3; j++) {
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TEST(fabs(data[i * 3 + j] - m2(i, j)) < FLT_EPSILON);
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EXPECT_FLOAT_EQ(data[i * 3 + j], m2(i, j));
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}
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}
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TEST(!m2.isAllNan());
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EXPECT_FALSE(m2.isAllNan());
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float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
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Matrix3f m3(data_times_2);
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TEST(isEqual(m, m2));
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TEST(!(isEqual(m, m3)));
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EXPECT_EQ(m, m2);
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EXPECT_NE(m, m3);
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m2 *= 2;
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TEST(isEqual(m2, m3));
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EXPECT_EQ(m2, m3);
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m2 /= 2;
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m2 -= 1;
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float data_minus_1[9] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
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TEST(isEqual(Matrix3f(data_minus_1), m2));
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EXPECT_EQ(Matrix3f(data_minus_1), m2);
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m2 += 1;
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TEST(isEqual(Matrix3f(data), m2));
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EXPECT_EQ(Matrix3f(data), m2);
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m3 -= m2;
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TEST(isEqual(m3, m2));
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EXPECT_EQ(m3, m2);
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// set rows and columns to value
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Matrix3f m2e(data2d);
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@ -94,9 +125,9 @@ int main()
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Matrix3f m2e_check2(data2e_check2);
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m2e.setCol(1, 11);
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TEST(isEqual(m2e, m2e_check1));
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EXPECT_EQ(m2e, m2e_check1);
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m2e.setRow(2, 0);
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TEST(isEqual(m2e, m2e_check2));
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EXPECT_EQ(m2e, m2e_check2);
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float data_row_02_swap[9] = {
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7, 8, 9,
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@ -112,53 +143,53 @@ int main()
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Matrix3f m4(data);
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TEST(isEqual(-m4, m4 * (-1)));
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EXPECT_EQ(-m4, m4 * (-1));
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// col swap
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m4.swapCols(0, 2);
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TEST(isEqual(m4, Matrix3f(data_col_02_swap)));
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EXPECT_EQ(m4, Matrix3f(data_col_02_swap));
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m4.swapCols(0, 2);
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// row swap
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m4.swapRows(0, 2);
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TEST(isEqual(m4, Matrix3f(data_row_02_swap)));
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EXPECT_EQ(m4, Matrix3f(data_row_02_swap));
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m4.swapRows(0, 2);
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// swapping with same row should do nothing
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m4.swapRows(0, 0);
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m4.swapRows(1, 1);
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m4.swapRows(2, 2);
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TEST(isEqual(m4, Matrix3f(data)));
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EXPECT_EQ(m4, Matrix3f(data));
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// swapping with same col should do nothing
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m4.swapCols(0, 0);
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m4.swapCols(1, 1);
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m4.swapCols(2, 2);
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TEST(isEqual(m4, Matrix3f(data)));
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EXPECT_EQ(m4, Matrix3f(data));
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TEST(fabs(m4.min() - 1) < FLT_EPSILON);
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TEST(fabs((-m4).min() + 9) < FLT_EPSILON);
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EXPECT_EQ(m4.min(), 1);
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EXPECT_EQ((-m4).min(), -9);
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Scalar<float> s = 1;
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const Vector<float, 1> &s_vect = s;
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TEST(fabs(s - 1) < FLT_EPSILON);
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TEST(fabs(s_vect(0) - 1.0f) < FLT_EPSILON);
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EXPECT_EQ(s, 1.0f);
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EXPECT_EQ(s_vect(0), 1.0f);
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Matrix<float, 1, 1> m5 = s;
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TEST(fabs(m5(0, 0) - s) < FLT_EPSILON);
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EXPECT_EQ(s, m5(0, 0));
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Matrix<float, 2, 2> m6;
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m6.setRow(0, Vector2f(1, 2));
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float m7_array[] = {1, 2, 0, 0};
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Matrix<float, 2, 2> m7(m7_array);
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TEST(isEqual(m6, m7));
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EXPECT_EQ(m6, m7);
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m6.setCol(0, Vector2f(3, 4));
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float m8_array[] = {3, 2, 4, 0};
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Matrix<float, 2, 2> m8(m8_array);
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TEST(isEqual(m6, m8));
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EXPECT_EQ(m6, m8);
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m7.setNaN();
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TEST(m7 != m8);
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EXPECT_NE(m7, m8);
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// min, max, constrain matrix values with scalar
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float data_m9[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
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@ -171,12 +202,12 @@ int main()
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Matrix3f m9_lower_bounded(data_m9_lower_bounded);
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Matrix3f m9_upper_bounded(data_m9_upper_bounded);
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Matrix3f m9_lower_upper_constrained(data_m9_lower_constrained);
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TEST(isEqual(max(m9, lower_bound), m9_lower_bounded));
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TEST(isEqual(max(lower_bound, m9), m9_lower_bounded));
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TEST(isEqual(min(m9, upper_bound), m9_upper_bounded));
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TEST(isEqual(min(upper_bound, m9), m9_upper_bounded));
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TEST(isEqual(constrain(m9, lower_bound, upper_bound), m9_lower_upper_constrained));
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TEST(isEqual(constrain(m9, 8.0f, 7.0f), m_nan));
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EXPECT_EQ(max(m9, lower_bound), m9_lower_bounded);
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EXPECT_EQ(max(lower_bound, m9), m9_lower_bounded);
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EXPECT_EQ(min(m9, upper_bound), m9_upper_bounded);
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EXPECT_EQ(min(upper_bound, m9), m9_upper_bounded);
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EXPECT_EQ(constrain(m9, lower_bound, upper_bound), m9_lower_upper_constrained);
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EXPECT_EQ(constrain(m9, 8.0f, 7.0f), m_nan);
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// min, max, constrain matrix values with matrix of same size
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float data_m10[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
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@ -191,28 +222,28 @@ int main()
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Matrix3f m10_upper_bound(data_m10_upper_bound);
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Matrix3f m10_upper_bounded_ref(data_m10_upper_bounded_ref);
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Matrix3f m10_constrained_ref(data_m10_constrained_ref);
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TEST(isEqual(max(m10, m10_lower_bound), m10_lower_bounded_ref));
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TEST(isEqual(max(m10_lower_bound, m10), m10_lower_bounded_ref));
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TEST(isEqual(min(m10, m10_upper_bound), m10_upper_bounded_ref));
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TEST(isEqual(min(m10_upper_bound, m9), m10_upper_bounded_ref));
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TEST(isEqual(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref));
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EXPECT_EQ(max(m10, m10_lower_bound), m10_lower_bounded_ref);
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EXPECT_EQ(max(m10_lower_bound, m10), m10_lower_bounded_ref);
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EXPECT_EQ(min(m10, m10_upper_bound), m10_upper_bounded_ref);
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EXPECT_EQ(min(m10_upper_bound, m9), m10_upper_bounded_ref);
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EXPECT_EQ(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref);
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// min, max, constrain with NAN
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TEST(isEqualF(matrix::typeFunction::min(5.f, NAN), 5.f));
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TEST(isEqualF(matrix::typeFunction::min(NAN, 5.f), 5.f));
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TEST(isEqualF(matrix::typeFunction::min(NAN, NAN), NAN));
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TEST(isEqualF(matrix::typeFunction::max(5.f, NAN), 5.f));
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TEST(isEqualF(matrix::typeFunction::max(NAN, 5.f), 5.f));
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TEST(isEqualF(matrix::typeFunction::max(NAN, NAN), NAN));
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TEST(isEqualF(matrix::typeFunction::constrain(NAN, 5.f, 6.f), NAN));
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TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, 4.f), NAN));
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TEST(isEqualF(matrix::typeFunction::constrain(6.f, NAN, 5.f), 5.f));
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TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, NAN), 5.f));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::min(5.f, NAN), 5.f));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::min(NAN, 5.f), 5.f));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::min(NAN, NAN), NAN));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::max(5.f, NAN), 5.f));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::max(NAN, 5.f), 5.f));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::max(NAN, NAN), NAN));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::constrain(NAN, 5.f, 6.f), NAN));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, 4.f), NAN));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::constrain(6.f, NAN, 5.f), 5.f));
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EXPECT_TRUE(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, NAN), 5.f));
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Vector2f v1{NAN, 5.0f};
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Vector2f v1_min = min(v1, 1.f);
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Matrix3f m11 = min(m10_constrained_ref, NAN);
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TEST(isEqualF(fmin(NAN, 1.f), float(v1_min(0))));
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TEST(isEqual(m11, m10_constrained_ref));
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EXPECT_FLOAT_EQ(fmin(NAN, 1.f), float(v1_min(0)));
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EXPECT_EQ(m11, m10_constrained_ref);
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// check write_string()
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float comma[6] = {
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@ -234,7 +265,7 @@ int main()
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printf("%d: \"%c\" != \"%c\"", int(i), buffer[i], output[i]); // LCOV_EXCL_LINE only print on failure
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}
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TEST(buffer[i] == output[i]);
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EXPECT_EQ(buffer[i], output[i]);
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if (buffer[i] == '\0') {
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break;
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@ -243,14 +274,14 @@ int main()
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// check print()
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// Redirect stdout
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TEST(freopen("testoutput.txt", "w", stdout) != NULL);
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EXPECT_TRUE(freopen("testoutput.txt", "w", stdout) != NULL);
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// write
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Comma.print();
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fclose(stdout);
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// read
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FILE *fp = fopen("testoutput.txt", "r");
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TEST(fp != nullptr);
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TEST(!fseek(fp, 0, SEEK_SET));
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EXPECT_NE(fp, nullptr);
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EXPECT_FALSE(fseek(fp, 0, SEEK_SET));
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for (size_t i = 0; i < len; i++) {
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char c = static_cast<char>(fgetc(fp));
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@ -260,11 +291,8 @@ int main()
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}
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printf("%d %d %d\n", static_cast<int>(i), output[i], c);
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TEST(c == output[i]);
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EXPECT_EQ(c, output[i]);
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}
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TEST(!fclose(fp));
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return 0;
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EXPECT_FALSE(fclose(fp));
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}
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