test_trig_util.cpp

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#include <gtest/gtest.h>

#include <swri_math_util/constants.h>
#include <swri_math_util/trig_util.h>

TEST(TrigUtilTests, WrapRadians)
{
  // Test values wrapped between [-pi, pi]
  EXPECT_FLOAT_EQ(0, swri_math_util::WrapRadians(0, 0));
  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi, 0));
  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi * 3.0, 0));
  EXPECT_FLOAT_EQ(swri_math_util::_pi * -0.5, swri_math_util::WrapRadians(swri_math_util::_pi * 1.5, 0));
  EXPECT_FLOAT_EQ(swri_math_util::_pi * 0.5, swri_math_util::WrapRadians(swri_math_util::_pi * -1.5, 0));

  // Test values wrapped between [0, 2pi]
  EXPECT_FLOAT_EQ(0, swri_math_util::WrapRadians(0, swri_math_util::_pi));
  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi, swri_math_util::_pi));
  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi * 3.0, swri_math_util::_pi));
  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(-swri_math_util::_pi, swri_math_util::_pi));
  EXPECT_FLOAT_EQ(swri_math_util::_pi, swri_math_util::WrapRadians(swri_math_util::_pi * -3.0, swri_math_util::_pi));
  EXPECT_FLOAT_EQ(swri_math_util::_pi * 0.5, swri_math_util::WrapRadians(swri_math_util::_pi * 2.5, swri_math_util::_pi));
  EXPECT_FLOAT_EQ(swri_math_util::_pi * 1.5, swri_math_util::WrapRadians(swri_math_util::_pi * 3.5, swri_math_util::_pi));
}

// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}