74 lines
2.1 KiB
C++
74 lines
2.1 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "gazebo/math/Helpers.hh"
|
|
#include "gazebo/math/Angle.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
class AngleTest : public ::testing::Test { };
|
|
|
|
TEST_F(AngleTest, Angle)
|
|
{
|
|
math::Angle angle1;
|
|
EXPECT_TRUE(math::equal(0.0, angle1.Radian()));
|
|
|
|
angle1.SetFromDegree(180.0);
|
|
EXPECT_TRUE(angle1 == M_PI);
|
|
|
|
angle1 = math::Angle(0.1) - math::Angle(0.3);
|
|
EXPECT_TRUE(angle1 == -0.2);
|
|
|
|
math::Angle angle(0.5);
|
|
EXPECT_TRUE(math::equal(0.5, angle.Radian()));
|
|
|
|
angle.SetFromRadian(M_PI);
|
|
EXPECT_TRUE(math::equal(GZ_RTOD(M_PI), angle.Degree()));
|
|
|
|
angle.Normalize();
|
|
EXPECT_TRUE(math::equal(GZ_RTOD(M_PI), angle.Degree()));
|
|
|
|
angle = math::Angle(0.1) + math::Angle(0.2);
|
|
EXPECT_TRUE(math::equal(0.3, angle.Radian()));
|
|
|
|
angle = math::Angle(0.1) * math::Angle(0.2);
|
|
EXPECT_TRUE(math::equal(0.02, angle.Radian()));
|
|
|
|
angle = math::Angle(0.1) / math::Angle(0.2);
|
|
EXPECT_TRUE(math::equal(0.5, angle.Radian()));
|
|
|
|
angle -= math::Angle(0.1);
|
|
EXPECT_TRUE(math::equal(0.4, angle.Radian()));
|
|
|
|
angle += math::Angle(0.2);
|
|
EXPECT_TRUE(math::equal(0.6, angle.Radian()));
|
|
|
|
angle *= math::Angle(0.5);
|
|
EXPECT_TRUE(math::equal(0.3, angle.Radian()));
|
|
|
|
angle /= math::Angle(0.1);
|
|
EXPECT_TRUE(math::equal(3.0, angle.Radian()));
|
|
EXPECT_TRUE(angle == math::Angle(3));
|
|
EXPECT_TRUE(angle != math::Angle(2));
|
|
EXPECT_TRUE(angle < math::Angle(4));
|
|
EXPECT_TRUE(angle <= math::Angle(3));
|
|
EXPECT_TRUE(angle > math::Angle(2));
|
|
EXPECT_TRUE(angle >= math::Angle(3));
|
|
}
|