RotationTest.cpp
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/****************************************************************************
*
* Copyright (C) 2020 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.
*
****************************************************************************/
/**
* @file RotationTest.cpp
* Tests for rotations.
*/
#include <gtest/gtest.h>
#include "rotation.h"
TEST(Rotations, matrix_vs_3f)
{
//iterate through all defined rotations
for (size_t i = 0; i < (size_t)Rotation::ROTATION_MAX; i++) {
// GIVEN: an initial vector and a rotation
const matrix::Vector3f original = {1.f, 2.f, 3.f};
const enum Rotation rotation = static_cast<Rotation>(i);
// WHEN: we transform the vector using the rotate_3f function and the rotation matrix
matrix::Vector3f transformed_3f = original;
rotate_3f(rotation, transformed_3f(0), transformed_3f(1), transformed_3f(2));
matrix::Dcmf matrix = get_rot_matrix(rotation);
matrix::Vector3f transformed_mat = matrix * original;
// THEN: the results should be the same
EXPECT_NEAR(transformed_mat(0), transformed_3f(0), 10e-6);
EXPECT_NEAR(transformed_mat(1), transformed_3f(1), 10e-6);
EXPECT_NEAR(transformed_mat(2), transformed_3f(2), 10e-6);
}
}
TEST(Rotations, duplicates)
{
// find all identical rotations to skip (needs to be kept in sync with mag calibration auto rotation)
for (size_t i = 0; i < (size_t)Rotation::ROTATION_MAX; i++) {
// GIVEN: an initial vector and a rotation
const matrix::Vector3f original = {1.f, 2.f, 3.f};
const enum Rotation rotation_1 = static_cast<Rotation>(i);
// WHEN: we transform the vector using the rotate_3f function and the rotation matrix
matrix::Vector3f transformed_1 = original;
rotate_3f(rotation_1, transformed_1(0), transformed_1(1), transformed_1(2));
for (size_t j = 0; j < (size_t)Rotation::ROTATION_MAX; j++) {
const enum Rotation rotation_2 = static_cast<Rotation>(j);
matrix::Vector3f transformed_2 = original;
rotate_3f(rotation_2, transformed_2(0), transformed_2(1), transformed_2(2));
if (i != j) {
// ROTATION_PITCH_180_YAW_90 (26) = ROTATION_ROLL_180_YAW_270 (14)
if (i == ROTATION_ROLL_180_YAW_270 && j == ROTATION_PITCH_180_YAW_90) { continue; }
if (j == ROTATION_ROLL_180_YAW_270 && i == ROTATION_PITCH_180_YAW_90) { continue; }
// ROTATION_ROLL_180_YAW_90 (10) = ROTATION_PITCH_180_YAW_270 (27)
if (i == ROTATION_ROLL_180_YAW_90 && j == ROTATION_PITCH_180_YAW_270) { continue; }
if (j == ROTATION_ROLL_180_YAW_90 && i == ROTATION_PITCH_180_YAW_270) { continue; }
// otherwise all rotations should be different
ASSERT_GT((transformed_1 - transformed_2).norm(), 0) << "Rotation " << i << " and " << j << " equal";
}
}
}
}