test_trig_util.cpp
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00001 // *****************************************************************************
00002 //
00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
00004 // All rights reserved.
00005 //
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
00008 //     * Redistributions of source code must retain the above copyright
00009 //       notice, this list of conditions and the following disclaimer.
00010 //     * Redistributions in binary form must reproduce the above copyright
00011 //       notice, this list of conditions and the following disclaimer in the
00012 //       documentation and/or other materials provided with the distribution.
00013 //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
00014 //       names of its contributors may be used to endorse or promote products
00015 //       derived from this software without specific prior written permission.
00016 //
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
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00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //
00028 // *****************************************************************************
00029 
00030 #include <gtest/gtest.h>
00031 
00032 #include <swri_math_util/constants.h>
00033 #include <swri_math_util/trig_util.h>
00034 
00035 TEST(TrigUtilTests, WrapRadians)
00036 {
00037   // Test values wrapped between [-pi, pi]
00038   EXPECT_FLOAT_EQ(0, swri_math_util::WrapRadians(0, 0));
00039   EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi, 0));
00040   EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi * 3.0, 0));
00041   EXPECT_FLOAT_EQ(swri_math_util::_pi * -0.5, swri_math_util::WrapRadians(swri_math_util::_pi * 1.5, 0));
00042   EXPECT_FLOAT_EQ(swri_math_util::_pi * 0.5, swri_math_util::WrapRadians(swri_math_util::_pi * -1.5, 0));
00043 
00044   // Test values wrapped between [0, 2pi]
00045   EXPECT_FLOAT_EQ(0, swri_math_util::WrapRadians(0, swri_math_util::_pi));
00046   EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi, swri_math_util::_pi));
00047   EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi * 3.0, swri_math_util::_pi));
00048   EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(-swri_math_util::_pi, swri_math_util::_pi));
00049   EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi * -3.0, swri_math_util::_pi));
00050   EXPECT_FLOAT_EQ(swri_math_util::_pi * 0.5, swri_math_util::WrapRadians(swri_math_util::_pi * 2.5, swri_math_util::_pi));
00051   EXPECT_FLOAT_EQ(swri_math_util::_pi * 1.5, swri_math_util::WrapRadians(swri_math_util::_pi * 3.5, swri_math_util::_pi));
00052 }
00053 
00054 // Run all the tests that were declared with TEST()
00055 int main(int argc, char **argv)
00056 {
00057   testing::InitGoogleTest(&argc, argv);
00058 
00059   return RUN_ALL_TESTS();
00060 }


swri_math_util
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 20:34:41