Skip to content

Commit

Permalink
(chore): updated unittests for euler_t
Browse files Browse the repository at this point in the history
  • Loading branch information
@wpumacay
wpumacay committed Jul 23, 2023
1 parent 7b0335a commit f42039c
Show file tree
Hide file tree
Showing 2 changed files with 39 additions and 42 deletions.
10 changes: 10 additions & 0 deletions tests/cpp/common_math_helpers.hpp
View file
Expand Up @@ -6,6 +6,8 @@
#include <math/mat3_t.hpp>
#include <math/mat4_t.hpp>
#include <math/quat_t.hpp>
#include <math/euler_t.hpp>
#include "math/euler_t_decl.hpp"

// NOLINTNEXTLINE
#define gen_random_value(T, range_min, range_max, Nsamples) \
Expand Down Expand Up @@ -109,4 +111,12 @@ constexpr auto func_all_close(const ::math::Quaternion<T>& quat, T w, T x, T y,
func_value_close<T>(quat.z(), z, eps);
}

template <typename T>
constexpr auto func_all_close(const ::math::Euler<T>& euler, T ex, T ey, T ez,
T eps) -> bool {
return func_value_close<T>(euler.x, ex, eps) &&
func_value_close<T>(euler.y, ey, eps) &&
func_value_close<T>(euler.z, ez, eps);
}

} // namespace math
71 changes: 29 additions & 42 deletions tests/cpp/test_euler_type.cpp
View file
@@ -1,6 +1,8 @@
#include <catch2/catch.hpp>
#include <math/euler_t.hpp>

#include "./common_math_helpers.hpp"

#if defined(__clang__)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wimplicit-float-conversion"
Expand All @@ -14,41 +16,26 @@
#pragma warning(disable : 4305)
#endif

constexpr double RANGE_MIN = -10.0;
constexpr double RANGE_MAX = 10.0;

// NOLINTNEXTLINE
#define GenRandomValue(Type, Nsamples) \
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);
}

template <typename T>
auto FuncAllClose(const math::Euler<T>& euler, T x, T y, T z) -> bool {
constexpr T EPSILON = static_cast<T>(math::EPS);
// clang-format off
return FuncClose<T>(euler.x, x, EPSILON) &&
FuncClose<T>(euler.y, y, EPSILON) &&
FuncClose<T>(euler.z, z, EPSILON);
// clang-format on
}
constexpr double USER_RANGE_MIN = -10.0;
constexpr double USER_RANGE_MAX = 10.0;
constexpr double USER_EPSILON = 1e-5;

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

SECTION("Default constructor") {
Euler e;
REQUIRE(FuncAllClose<T>(e, 0.0, 0.0, 0.0));
REQUIRE(::math::func_all_close<T>(e, 0.0, 0.0, 0.0, EPSILON));
// Default setting for order is Order::XYZ
REQUIRE(e.order == ::math::euler::Order::XYZ);
// Default setting for convention is Convention::INTRINSIC
Expand All @@ -57,12 +44,12 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",

SECTION("From single scalar argument") {
constexpr int NUM_SAMPLES = 8;
auto val_x = GenRandomValue(T, NUM_SAMPLES);
auto val_y = GenRandomValue(T, NUM_SAMPLES);
auto val_z = GenRandomValue(T, NUM_SAMPLES);
auto val_x = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);
auto val_y = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);
auto val_z = gen_random_value(T, RANGE_MIN, RANGE_MAX, NUM_SAMPLES);

Euler e(val_x, val_y, val_z);
REQUIRE(FuncAllClose<T>(e, val_x, val_y, val_z));
REQUIRE(::math::func_all_close<T>(e, val_x, val_y, val_z, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -73,7 +60,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
{
Quat q(1.0, 0.0, 0.0, 0.0);
Euler e(q);
REQUIRE(FuncAllClose<T>(e, 0.0, 0.0, 0.0));
REQUIRE(::math::func_all_close<T>(e, 0.0, 0.0, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -85,7 +72,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto sin_half = std::sin(angle / 2.0);
Quat q(cos_half, sin_half, 0.0, 0.0);
Euler e(q);
REQUIRE(FuncAllClose<T>(e, angle, 0.0, 0.0));
REQUIRE(::math::func_all_close<T>(e, angle, 0.0, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -97,7 +84,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto sin_half = std::sin(angle / 2.0);
Quat q(cos_half, 0.0, sin_half, 0.0);
Euler e(q);
REQUIRE(FuncAllClose<T>(e, 0.0, angle, 0.0));
REQUIRE(::math::func_all_close<T>(e, 0.0, angle, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -109,7 +96,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto sin_half = std::sin(angle / 2.0);
Quat q(cos_half, 0.0, 0.0, sin_half);
Euler e(q);
REQUIRE(FuncAllClose<T>(e, 0.0, 0.0, angle));
REQUIRE(::math::func_all_close<T>(e, 0.0, 0.0, angle, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -122,7 +109,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto angle = ::math::PI / 4.0;
Mat3 rotmat = Mat3::RotationX(angle);
Euler e(rotmat);
REQUIRE(FuncAllClose<T>(e, angle, 0.0, 0.0));
REQUIRE(::math::func_all_close<T>(e, angle, 0.0, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -133,7 +120,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto angle = ::math::PI / 4.0;
Mat3 rotmat = Mat3::RotationY(angle);
Euler e(rotmat);
REQUIRE(FuncAllClose<T>(e, 0.0, angle, 0.0));
REQUIRE(::math::func_all_close<T>(e, 0.0, angle, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -144,7 +131,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto angle = ::math::PI / 4.0;
Mat3 rotmat = Mat3::RotationZ(angle);
Euler e(rotmat);
REQUIRE(FuncAllClose<T>(e, 0.0, 0.0, angle));
REQUIRE(::math::func_all_close<T>(e, 0.0, 0.0, angle, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -157,7 +144,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto angle = ::math::PI / 4.0;
Mat4 rotmat = Mat4::RotationX(angle);
Euler e(rotmat);
REQUIRE(FuncAllClose<T>(e, angle, 0.0, 0.0));
REQUIRE(::math::func_all_close<T>(e, angle, 0.0, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -168,7 +155,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto angle = ::math::PI / 4.0;
Mat4 rotmat = Mat4::RotationY(angle);
Euler e(rotmat);
REQUIRE(FuncAllClose<T>(e, 0.0, angle, 0.0));
REQUIRE(::math::func_all_close<T>(e, 0.0, angle, 0.0, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand All @@ -179,7 +166,7 @@ TEMPLATE_TEST_CASE("Euler class (euler_t) constructors", "[euler_t][template]",
auto angle = ::math::PI / 4.0;
Mat4 rotmat = Mat4::RotationZ(angle);
Euler e(rotmat);
REQUIRE(FuncAllClose<T>(e, 0.0, 0.0, angle));
REQUIRE(::math::func_all_close<T>(e, 0.0, 0.0, angle, EPSILON));
REQUIRE(e.order == ::math::euler::Order::XYZ);
REQUIRE(e.convention == ::math::euler::Convention::INTRINSIC);
}
Expand Down

0 comments on commit f42039c

Please sign in to comment.