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(chore): updating mat3 tests (WIP)
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@wpumacay
wpumacay committed Jul 22, 2023
1 parent 7fe2ab3 commit c2741b1
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Showing 2 changed files with 118 additions and 88 deletions.
50 changes: 49 additions & 1 deletion tests/cpp/common_math_helpers.hpp
View file
Expand Up @@ -43,13 +43,61 @@ constexpr auto func_all_close(const ::math::Vector4<T>& vec, T x, T y, T z, T w,
func_value_close(vec.w(), w, eps);
}

// clang-format off
template <typename T>
constexpr auto func_all_close(const ::math::Matrix2<T>& mat, T x00, T x01,
constexpr auto func_all_close(const ::math::Matrix2<T>& mat,
T x00, T x01,
T x10, T x11, T eps) -> bool {
return func_value_close<T>(mat(0, 0), x00, eps) &&
func_value_close<T>(mat(0, 1), x01, eps) &&
func_value_close<T>(mat(1, 0), x10, eps) &&
func_value_close<T>(mat(1, 1), x11, eps);
}

template <typename T>
constexpr auto func_all_close(const ::math::Matrix3<T>& mat,
T x00, T x01, T x02,
T x10, T x11, T x12,
T x20, T x21, T x22, T eps) -> bool {
return func_value_close<T>(mat(0, 0), x00, eps) &&
func_value_close<T>(mat(0, 1), x01, eps) &&
func_value_close<T>(mat(0, 2), x02, eps) &&

func_value_close<T>(mat(1, 0), x10, eps) &&
func_value_close<T>(mat(1, 1), x11, eps) &&
func_value_close<T>(mat(1, 2), x12, eps) &&

func_value_close<T>(mat(2, 0), x20, eps) &&
func_value_close<T>(mat(2, 1), x21, eps) &&
func_value_close<T>(mat(2, 2), x22, eps);
}

template <typename T>
constexpr auto func_all_close(const ::math::Matrix4<T>& mat,
T x00, T x01, T x02, T x03,
T x10, T x11, T x12, T x13,
T x20, T x21, T x22, T x23,
T x30, T x31, T x32, T x33, T eps) -> bool {
return func_value_close<T>(mat(0, 0), x00, eps) &&
func_value_close<T>(mat(0, 1), x01, eps) &&
func_value_close<T>(mat(0, 2), x02, eps) &&
func_value_close<T>(mat(0, 3), x03, eps) &&

func_value_close<T>(mat(1, 0), x10, eps) &&
func_value_close<T>(mat(1, 1), x11, eps) &&
func_value_close<T>(mat(1, 2), x12, eps) &&
func_value_close<T>(mat(1, 3), x13, eps) &&

func_value_close<T>(mat(2, 0), x20, eps) &&
func_value_close<T>(mat(2, 1), x21, eps) &&
func_value_close<T>(mat(2, 2), x22, eps) &&
func_value_close<T>(mat(2, 3), x23, eps) &&

func_value_close<T>(mat(3, 0), x30, eps) &&
func_value_close<T>(mat(3, 1), x31, eps) &&
func_value_close<T>(mat(3, 2), x32, eps) &&
func_value_close<T>(mat(3, 3), x33, eps);
}
// clang-format on

} // namespace math
156 changes: 69 additions & 87 deletions tests/cpp/test_mat3_type.cpp
View file
@@ -1,6 +1,9 @@
#include <catch2/catch.hpp>
#include <math/mat3_t.hpp>

#include "./common_math_helpers.hpp"
#include "./common_math_generators.hpp"

#if defined(__clang__)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wimplicit-float-conversion"
Expand All @@ -14,94 +17,69 @@
#pragma warning(disable : 4305)
#endif

constexpr double RANGE_MIN = -100.0;
constexpr double RANGE_MAX = 100.0;

// NOLINTNEXTLINE
#define GenRandomValue(Type, Nsamples) \
GENERATE(take(Nsamples, random(static_cast<Type>(RANGE_MIN), \
static_cast<Type>(RANGE_MAX))))

// NOLINTNEXTLINE
#define GenRandomInRange(Type, Nsamples, range_min, range_max) \
GENERATE(take(Nsamples, random(static_cast<Type>(range_min), \
static_cast<Type>(range_max))))

template <typename T>
constexpr auto FuncClose(T a, T b, T eps) -> bool {
return ((a - b) < eps) && ((a - b) > -eps);
}

// clang-format off
template <typename T>
auto FuncAllClose(const math::Matrix3<T>& mat,
T x00, T x01, T x02,
T x10, T x11, T x12,
T x20, T x21, T x22) -> bool {
constexpr T EPSILON = static_cast<T>(math::EPS);

return FuncClose<T>(mat(0, 0), x00, EPSILON) &&
FuncClose<T>(mat(0, 1), x01, EPSILON) &&
FuncClose<T>(mat(0, 2), x02, EPSILON) &&
FuncClose<T>(mat(1, 0), x10, EPSILON) &&
FuncClose<T>(mat(1, 1), x11, EPSILON) &&
FuncClose<T>(mat(1, 2), x12, EPSILON) &&
FuncClose<T>(mat(2, 0), x20, EPSILON) &&
FuncClose<T>(mat(2, 1), x21, EPSILON) &&
FuncClose<T>(mat(2, 2), x22, EPSILON);
}
// clang-format on
constexpr double USER_RANGE_MIN = -100.0;
constexpr double USER_RANGE_MAX = 100.0;
constexpr double USER_EPSILON = 1e-5;

// NOLINTNEXTLINE
TEMPLATE_TEST_CASE("Matrix3 class (mat3_t) constructors", "[mat3_t][template]",
math::float32_t, math::float64_t) {
::math::float32_t, ::math::float64_t) {
using T = TestType;
using Vec3 = math::Vector3<T>;
using Euler = math::Euler<T>;
using Mat3 = math::Matrix3<T>;
using Mat4 = math::Matrix4<T>;
using Quat = math::Quaternion<T>;
using Vec3 = ::math::Vector3<T>;
using Euler = ::math::Euler<T>;
using Mat3 = ::math::Matrix3<T>;
using Mat4 = ::math::Matrix4<T>;
using Quat = ::math::Quaternion<T>;

constexpr T EPSILON = static_cast<T>(USER_EPSILON);
constexpr T RANGE_MIN = static_cast<T>(USER_RANGE_MIN);
constexpr T RANGE_MAX = static_cast<T>(USER_RANGE_MAX);

// Checking all exposed constructors
SECTION("Default constructor") {
Mat3 mat;
// clang-format off
REQUIRE(FuncAllClose<T>(mat,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0));
REQUIRE(::math::func_all_close<T>(mat,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0, EPSILON));
// clang-format on
}

SECTION("From all matrix entries") {
// clang-format off
Mat3 mat(1.0, 2.0, 3.0,
4.0, 5.0, 6.0,
7.0, 8.0, 9.0);
4.0, 5.0, 6.0,
7.0, 8.0, 9.0);

REQUIRE(FuncAllClose<T>(mat,
1.0, 2.0, 3.0,
4.0, 5.0, 6.0,
7.0, 8.0, 9.0));
REQUIRE(::math::func_all_close<T>(mat,
1.0, 2.0, 3.0,
4.0, 5.0, 6.0,
7.0, 8.0, 9.0, EPSILON));
// clang-format on
}

SECTION("From diagonal entries") {
auto x00 = GenRandomValue(T, 8);
auto x11 = GenRandomValue(T, 8);
auto x22 = GenRandomValue(T, 8);
constexpr auto NUM_SAMPLES = 8;
auto x00 = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);
auto x11 = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);
auto x22 = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);

Mat3 mat(x00, x11, x22);

// clang-format off
REQUIRE(FuncAllClose<T>(mat,
x00, 0.0, 0.0,
0.0, x11, 0.0,
0.0, 0.0, x22));
REQUIRE(::math::func_all_close<T>(mat,
x00, 0.0, 0.0,
0.0, x11, 0.0,
0.0, 0.0, x22, EPSILON));
// clang-format on
}

SECTION("From column vectors") {
auto x00 = GenRandomValue(T, 8);
auto x11 = GenRandomValue(T, 8);
auto x22 = GenRandomValue(T, 8);
constexpr auto NUM_SAMPLES = 8;
auto x00 = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);
auto x11 = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);
auto x22 = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);

Vec3 col0 = {x00, 2.0, 3.0};
Vec3 col1 = {4.0, x11, 6.0};
Expand All @@ -110,26 +88,28 @@ TEMPLATE_TEST_CASE("Matrix3 class (mat3_t) constructors", "[mat3_t][template]",
Mat3 mat(col0, col1, col2);

// clang-format off
REQUIRE(FuncAllClose<T>(mat,
x00, 4.0, 7.0,
2.0, x11, 8.0,
3.0, 6.0, x22));
REQUIRE(::math::func_all_close<T>(mat,
x00, 4.0, 7.0,
2.0, x11, 8.0,
3.0, 6.0, x22, EPSILON));
// clang-format on
}

SECTION("From quaternion") {
// NOLINTNEXTLINE
Quat q(1.0F, 0.0F, 0.0F, 0.0F);
Quat q(1.0, 0.0, 0.0, 0.0);
Mat3 mat(q);

// clang-format off
REQUIRE(FuncAllClose<T>(mat,
REQUIRE(::math::func_all_close<T>(mat,
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0));
0.0, 0.0, 1.0, EPSILON));
// clang-format on
}

SECTION("From Euler angles") {
auto theta = GenRandomInRange(T, 10, -::math::PI, ::math::PI);
constexpr auto NUM_SAMPLES = 8;
auto theta = gen_random_value(T, -::math::PI, ::math::PI, NUM_SAMPLES);
auto cos_t = std::cos(theta);
auto sin_t = std::sin(theta);

Expand All @@ -141,24 +121,26 @@ TEMPLATE_TEST_CASE("Matrix3 class (mat3_t) constructors", "[mat3_t][template]",
Mat3 mat_z(e_z);

// clang-format off
REQUIRE(FuncAllClose<T>(mat_x,
1.0, 0.0 , 0.0 ,
REQUIRE(::math::func_all_close<T>(mat_x,
1.0, 0.0 , 0.0 ,
0.0, cos_t, -sin_t,
0.0, sin_t, cos_t));
0.0, sin_t, cos_t, EPSILON));

REQUIRE(FuncAllClose<T>(mat_y,
REQUIRE(::math::func_all_close<T>(mat_y,
cos_t , 0.0, sin_t ,
0.0 , 1.0, 0.0 ,
-sin_t , 0.0, cos_t));
-sin_t , 0.0, cos_t , EPSILON));

REQUIRE(FuncAllClose<T>(mat_z,
REQUIRE(::math::func_all_close<T>(mat_z,
cos_t , -sin_t , 0.0,
sin_t , cos_t , 0.0,
0.0 , 0.0 , 1.0));
0.0 , 0.0 , 1.0, EPSILON));
// clang-format on
}

SECTION("From 4x4 transform matrix") {
auto theta = GenRandomInRange(T, 10, -::math::PI, ::math::PI);
constexpr auto NUM_SAMPLES = 8;
auto theta = gen_random_value(T, -::math::PI, ::math::PI, NUM_SAMPLES);
auto cos_t = std::cos(theta);
auto sin_t = std::sin(theta);

Expand All @@ -170,20 +152,20 @@ TEMPLATE_TEST_CASE("Matrix3 class (mat3_t) constructors", "[mat3_t][template]",
Mat3 mat_z(tf_z);

// clang-format off
REQUIRE(FuncAllClose<T>(mat_x,
1.0, 0.0 , 0.0 ,
REQUIRE(::math::func_all_close<T>(mat_x,
1.0, 0.0 , 0.0 ,
0.0, cos_t, -sin_t,
0.0, sin_t, cos_t));
0.0, sin_t, cos_t, EPSILON));

REQUIRE(FuncAllClose<T>(mat_y,
REQUIRE(::math::func_all_close<T>(mat_y,
cos_t , 0.0, sin_t ,
0.0 , 1.0, 0.0 ,
-sin_t , 0.0, cos_t));
-sin_t , 0.0, cos_t , EPSILON));

REQUIRE(FuncAllClose<T>(mat_z,
REQUIRE(::math::func_all_close<T>(mat_z,
cos_t , -sin_t , 0.0,
sin_t , cos_t , 0.0,
0.0 , 0.0 , 1.0));
0.0 , 0.0 , 1.0, EPSILON));
// clang-format on
}
}
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