96 lines
2.5 KiB
C++
96 lines
2.5 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include "gazebo/math/Vector3.hh"
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using namespace gazebo;
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class Vector3Test : public ::testing::Test { };
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TEST_F(Vector3Test, Vector3)
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{
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math::Vector3 v;
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// ::Distance, ::GetLEngth()
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v.Set(1, 2, 3);
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EXPECT_FLOAT_EQ(v.GetLength(), v.Distance(math::Vector3(0, 0, 0)));
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// ::GetRound
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v.Set(1.23, 2.34, 3.55);
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EXPECT_TRUE(v.GetRounded() == math::Vector3(1, 2, 4));
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// ::Round
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v.Round();
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EXPECT_TRUE(v.Round() == math::Vector3(1, 2, 4));
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// ::GetDotProd
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EXPECT_TRUE(math::equal(17.0, v.Dot(math::Vector3(1, 2, 3)), 1e-2));
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// ::GetDistToLine
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v.Set(0, 0, 0);
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EXPECT_DOUBLE_EQ(1.0, v.GetDistToLine(math::Vector3(1, -1, 0),
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math::Vector3(1, 1, 0)));
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// ::operator= double
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v = 4.0;
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EXPECT_TRUE(v == math::Vector3(4, 4, 4));
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// ::operator/ vector3
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v = v / math::Vector3(1, 2, 4);
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EXPECT_TRUE(v == math::Vector3(4, 2, 1));
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// ::operator / double
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v = v / 2;
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EXPECT_TRUE(v == math::Vector3(2, 1, .5));
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// ::operator * vector3
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v = v * math::Vector3(2, 3, 4);
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EXPECT_TRUE(v == math::Vector3(4, 3, 2));
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// ::operator[]
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EXPECT_DOUBLE_EQ(v[0], 4);
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EXPECT_DOUBLE_EQ(v[1], 3);
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EXPECT_DOUBLE_EQ(v[2], 2);
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v.Set(1.23, 2.35, 3.654321);
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v.Round(1);
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EXPECT_TRUE(v == math::Vector3(1.2, 2.4, 3.7));
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// operator GetAbs
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v.Set(-1, -2, -3);
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EXPECT_TRUE(v.GetAbs() == math::Vector3(1, 2, 3));
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// operator /=
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v.Set(1, 2, 4);
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v /= math::Vector3(1, 4, 4);
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EXPECT_TRUE(v == math::Vector3(1, .5, 1));
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// operator *=
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v.Set(1, 2, 4);
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v *= math::Vector3(2, .5, .1);
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EXPECT_TRUE(v.Equal(math::Vector3(2, 1, .4)));
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// Test the static defines.
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EXPECT_TRUE(math::Vector3::Zero == math::Vector3(0, 0, 0));
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EXPECT_TRUE(math::Vector3::One == math::Vector3(1, 1, 1));
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EXPECT_TRUE(math::Vector3::UnitX == math::Vector3(1, 0, 0));
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EXPECT_TRUE(math::Vector3::UnitY == math::Vector3(0, 1, 0));
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EXPECT_TRUE(math::Vector3::UnitZ == math::Vector3(0, 0, 1));
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}
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