flight/tests/math/unittest.cpp

   1 #include "gtest/gtest.h"
   2
   3 #include <stdio.h> /* printf */
   4 #include <stdlib.h> /* abort */
   5 #include <string.h> /* memset */
   6
   7 extern "C" {
   8 #include "mathmisc.h"
   9 }
  10
  11 #define epsilon 0.00001f
  12 // From pios_math.h
  13 #define IS_REAL(f)           (!isnan(f) && !isinf(f))
  14 #define length(points_array) (sizeof(points_array) / sizeof(points_array[0]))
  15
  16 // To use a test fixture, derive a class from testing::Test.
  17 class MathTestRaw : public testing::Test {};
  18
  19 TEST_F(MathTestRaw, y_on_line0) {
  20     pointf points[] = {
  21         { 0.0f, -0.30f },
  22         { 0.5f, 0.30   }
  23     };
  24
  25     EXPECT_NEAR(-0.60f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
  26     EXPECT_NEAR(-0.30f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
  27     EXPECT_NEAR(0.00f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
  28     EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
  29     EXPECT_NEAR(0.60f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
  30 }
  31
  32 TEST_F(MathTestRaw, y_on_line1) {
  33     pointf points[] = {
  34         { 0.25f, -0.30f },
  35         { 0.50f, 0.30   }
  36     };
  37
  38     EXPECT_NEAR(-1.50f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
  39     EXPECT_NEAR(-0.90f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
  40     EXPECT_NEAR(-0.30f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
  41     EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
  42     EXPECT_NEAR(0.90f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
  43 }
  44
  45 TEST_F(MathTestRaw, y_on_line2) {
  46     pointf points[] = {
  47         { -0.25f, -0.30f },
  48         { 0.50f,  0.30   }
  49     };
  50
  51     EXPECT_NEAR(-0.30f, y_on_line(-0.25f, &points[0], &points[1]), epsilon);
  52     EXPECT_NEAR(-0.10f, y_on_line(0.00f, &points[0], &points[1]), epsilon);
  53     EXPECT_NEAR(0.10f, y_on_line(0.25f, &points[0], &points[1]), epsilon);
  54     EXPECT_NEAR(0.30f, y_on_line(0.50f, &points[0], &points[1]), epsilon);
  55     EXPECT_NEAR(0.50f, y_on_line(0.75f, &points[0], &points[1]), epsilon);
  56 }
  57
  58 TEST_F(MathTestRaw, y_on_line3) {
  59     pointf points[] = {
  60         { 0.25f, -0.30f },
  61         { 0.25f, 0.30   }
  62     };
  63
  64
  65     EXPECT_FALSE(IS_REAL(y_on_line(-0.25f, &points[0], &points[1])));
  66 }
  67
  68 TEST_F(MathTestRaw, y_on_curve0) {
  69     pointf points[] = {
  70         { 0.00f, -0.40f },
  71         { 0.25f, -0.20f },
  72         { 0.50f, 0.00f  },
  73         { 0.75f, 0.20   },
  74         { 1.00f, 0.40   }
  75     };
  76
  77     EXPECT_NEAR(-0.50f, y_on_curve(-0.125f, points, length(points)), epsilon);
  78     EXPECT_NEAR(-0.40f, y_on_curve(0.000f, points, length(points)), epsilon);
  79     EXPECT_NEAR(-0.30f, y_on_curve(0.125f, points, length(points)), epsilon);
  80     EXPECT_NEAR(-0.20f, y_on_curve(0.250f, points, length(points)), epsilon);
  81     EXPECT_NEAR(-0.10f, y_on_curve(0.375f, points, length(points)), epsilon);
  82     EXPECT_NEAR(0.00f, y_on_curve(0.500f, points, length(points)), epsilon);
  83     EXPECT_NEAR(0.10f, y_on_curve(0.625f, points, length(points)), epsilon);
  84     EXPECT_NEAR(0.20f, y_on_curve(0.750f, points, length(points)), epsilon);
  85     EXPECT_NEAR(0.30f, y_on_curve(0.875f, points, length(points)), epsilon);
  86     EXPECT_NEAR(0.40f, y_on_curve(1.000f, points, length(points)), epsilon);
  87     EXPECT_NEAR(0.50f, y_on_curve(1.125f, points, length(points)), epsilon);
  88 }
  89
  90
  91 TEST_F(MathTestRaw, y_on_curve1) {
  92     pointf points[] = {
  93         { -0.25f, 0.10f },
  94         { 0.00f,  0.20f },
  95         { 0.50f,  0.30f },
  96         { 1.00f,  -0.30 },
  97         { 2.00f,  -0.50 }
  98     };
  99
 100     EXPECT_NEAR(0.00f, y_on_curve(-0.500f, points, length(points)), epsilon);
 101     EXPECT_NEAR(0.10f, y_on_curve(-0.250f, points, length(points)), epsilon);
 102     EXPECT_NEAR(0.15f, y_on_curve(-0.125f, points, length(points)), epsilon);
 103     EXPECT_NEAR(0.20f, y_on_curve(0.000f, points, length(points)), epsilon);
 104     EXPECT_NEAR(0.22f, y_on_curve(0.100f, points, length(points)), epsilon);
 105     EXPECT_NEAR(0.30f, y_on_curve(0.500f, points, length(points)), epsilon);
 106     EXPECT_NEAR(0.00f, y_on_curve(0.750f, points, length(points)), epsilon);
 107     EXPECT_NEAR(-0.30f, y_on_curve(1.000f, points, length(points)), epsilon);
 108     EXPECT_NEAR(-0.35f, y_on_curve(1.250f, points, length(points)), epsilon);
 109     EXPECT_NEAR(-0.50f, y_on_curve(2.000f, points, length(points)), epsilon);
 110 }