test_math_util.cpp
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29 
30 #include <gtest/gtest.h>
31 
32 #include <swri_math_util/constants.h>
33 #include <swri_math_util/math_util.h>
34 
35 TEST(MathUtilTests, Round)
36 {
37  EXPECT_EQ(0.0, swri_math_util::Round(0.1));
38  EXPECT_EQ(0.0, swri_math_util::Round(-0.1));
39  EXPECT_EQ(0.0, swri_math_util::Round(0.45));
40  EXPECT_EQ(90.0, swri_math_util::Round(90.1));
41  EXPECT_EQ(90.0, swri_math_util::Round(89.7));
42  EXPECT_EQ(-10.0, swri_math_util::Round(-9.9));
43  EXPECT_EQ(-10.0, swri_math_util::Round(-10.1));
44 }
45 
46 TEST(MathUtilTests, ToNearest)
47 {
48  EXPECT_EQ(0.0, swri_math_util::ToNearest(0.1, 1));
49  EXPECT_EQ(0.0, swri_math_util::ToNearest(-0.1, 1));
50  EXPECT_EQ(0.0, swri_math_util::ToNearest(0.45, 1));
51  EXPECT_EQ(90.0, swri_math_util::ToNearest(90.1, 1));
52  EXPECT_EQ(90.0, swri_math_util::ToNearest(89.7, 1));
53  EXPECT_EQ(-10.0, swri_math_util::ToNearest(-9.9, 1));
54  EXPECT_EQ(-10.0, swri_math_util::ToNearest(-10.1, 1));
55  EXPECT_EQ(4, swri_math_util::ToNearest(4, 2));
56  EXPECT_EQ(-4, swri_math_util::ToNearest(-4, 2));
57 
58  EXPECT_EQ(90.0, swri_math_util::ToNearest(85.4, 90));
59  EXPECT_EQ(270.0, swri_math_util::ToNearest(301.4, 90));
60  EXPECT_EQ(0.0, swri_math_util::ToNearest(35.4, 90));
61  EXPECT_EQ(0.0, swri_math_util::ToNearest(-35.3, 90));
62  EXPECT_EQ(-270.0, swri_math_util::ToNearest(-301.4, 90));
63 
64  EXPECT_EQ(0.0, swri_math_util::ToNearest(85.4, 0));
65  EXPECT_EQ(0.0, swri_math_util::ToNearest(301.4, 0));
66  EXPECT_EQ(0.0, swri_math_util::ToNearest(35.4, 0));
67  EXPECT_EQ(0.0, swri_math_util::ToNearest(-35.3, 0));
68  EXPECT_EQ(0.0, swri_math_util::ToNearest(-301.4, 0));
69 
70  EXPECT_EQ(0, swri_math_util::ToNearest(-0.45, swri_math_util::_half_pi));
71  EXPECT_EQ(0, swri_math_util::ToNearest(0.45, swri_math_util::_half_pi));
72  EXPECT_FLOAT_EQ(swri_math_util::_half_pi, swri_math_util::ToNearest(1.2, swri_math_util::_half_pi));
73  EXPECT_FLOAT_EQ(swri_math_util::_half_pi, swri_math_util::ToNearest(1.6, swri_math_util::_half_pi));
74  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::ToNearest(2.4, swri_math_util::_half_pi));
75  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::ToNearest(swri_math_util::_pi, swri_math_util::_half_pi));
76  EXPECT_FLOAT_EQ(swri_math_util::_2pi, swri_math_util::ToNearest(6.1, swri_math_util::_half_pi));
77 }
78 
79 TEST(MathUtilTests, UpToNearest)
80 {
81  EXPECT_EQ(1.0, swri_math_util::UpToNearest(0.1, 1));
82  EXPECT_EQ(0.0, swri_math_util::UpToNearest(-0.1, 1));
83  EXPECT_EQ(1.0, swri_math_util::UpToNearest(0.45, 1));
84  EXPECT_EQ(91.0, swri_math_util::UpToNearest(90.1, 1));
85  EXPECT_EQ(90.0, swri_math_util::UpToNearest(89.7, 1));
86  EXPECT_EQ(-9.0, swri_math_util::UpToNearest(-9.9, 1));
87  EXPECT_EQ(-10.0, swri_math_util::UpToNearest(-10.1, 1));
88  EXPECT_EQ(4, swri_math_util::UpToNearest(4, 2));
89  EXPECT_EQ(-4, swri_math_util::UpToNearest(-4, 2));
90 
91  EXPECT_EQ(90.0, swri_math_util::UpToNearest(85.4, 90));
92  EXPECT_EQ(360.0, swri_math_util::UpToNearest(301.4, 90));
93  EXPECT_EQ(90.0, swri_math_util::UpToNearest(35.4, 90));
94  EXPECT_EQ(0.0, swri_math_util::UpToNearest(-35.3, 90));
95  EXPECT_EQ(-270.0, swri_math_util::UpToNearest(-301.4, 90));
96 
97  EXPECT_EQ(0.0, swri_math_util::UpToNearest(85.4, 0));
98  EXPECT_EQ(0.0, swri_math_util::UpToNearest(301.4, 0));
99  EXPECT_EQ(0.0, swri_math_util::UpToNearest(35.4, 0));
100  EXPECT_EQ(0.0, swri_math_util::UpToNearest(-35.3, 0));
101  EXPECT_EQ(0.0, swri_math_util::UpToNearest(-301.4, 0));
102 
103  EXPECT_EQ(0, swri_math_util::UpToNearest(-0.45, swri_math_util::_half_pi));
104  EXPECT_FLOAT_EQ(swri_math_util::_half_pi, swri_math_util::UpToNearest(0.45, swri_math_util::_half_pi));
105  EXPECT_FLOAT_EQ(swri_math_util::_half_pi, swri_math_util::UpToNearest(1.2, swri_math_util::_half_pi));
106  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::UpToNearest(1.6, swri_math_util::_half_pi));
107  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::UpToNearest(2.4, swri_math_util::_half_pi));
108  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::UpToNearest(swri_math_util::_pi, swri_math_util::_half_pi));
109  EXPECT_FLOAT_EQ(swri_math_util::_2pi, swri_math_util::UpToNearest(6.1, swri_math_util::_half_pi));
110 }
111 
112 TEST(MathUtilTests, IsNear)
113 {
114  EXPECT_TRUE(swri_math_util::IsNear(1, 1, 0));
115  EXPECT_TRUE(swri_math_util::IsNear(3535.353, 3535.353, 0));
116  EXPECT_TRUE(swri_math_util::IsNear(10.1, 10, 0.1));
117  EXPECT_TRUE(swri_math_util::IsNear(10, 10.1, 0.1));
118  EXPECT_TRUE(swri_math_util::IsNear(-10.1, -10, 0.1));
119  EXPECT_TRUE(swri_math_util::IsNear(-10, -10.1, 0.1));
120 }
121 
122 // Run all the tests that were declared with TEST()
123 int main(int argc, char **argv)
124 {
125  testing::InitGoogleTest(&argc, argv);
126 
127  return RUN_ALL_TESTS();
128 }
swri_math_util::_half_pi
static const long double _half_pi
Definition: constants.h:39
swri_math_util::UpToNearest
double UpToNearest(double value, double multiple)
Definition: math_util.cpp:51
swri_math_util::ToNearest
double ToNearest(double value, double multiple)
Definition: math_util.cpp:41
TEST
TEST(MathUtilTests, Round)
Definition: test_math_util.cpp:35
swri_math_util::IsNear
bool IsNear(double v1, double v2, double epsilon)
Definition: math_util.cpp:61
main
int main(int argc, char **argv)
Definition: test_math_util.cpp:123
swri_math_util::Round
double Round(double value)
Definition: math_util.cpp:36
swri_math_util::_2pi
static const long double _2pi
Definition: constants.h:37
swri_math_util::_pi
static const long double _pi
Definition: constants.h:35
math_util.h

swri_math_util
Author(s): Marc Alban
autogenerated on Fri Jun 7 2019 22:05:41