RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Add first Spherical Unit test

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This commit is contained in:
Pascal Serrarens 2024-03-14 12:14:19 +01:00
parent dc601a1746
commit 0cbef79a85
3 changed files with 35 additions and 2 deletions
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1
CMakeLists.txt
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@ -43,6 +43,7 @@ else()
"test/Vector3_test.cc"
"test/Quaternion_test.cc"
"test/Matrix_test.cc"
"test/Spherical_test.cc"
)
target_link_libraries(
VectorAlgebraTest

4
Spherical.cpp
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@ -32,9 +32,9 @@ Spherical::Spherical(float distance, Angle horizontalAngle, Angle verticalAngle)
Spherical::Spherical(Vector3 v) {
float signZ = (v.z >= 0) - (v.z < 0);
horizontalAngle =
verticalAngle =
atan2(v.y, signZ * sqrt(v.z * v.z + v.x * v.x)) * Angle::Rad2Deg;
verticalAngle = -atan2(v.x, sqrt(v.z * v.z + v.y * v.y)) * Angle::Rad2Deg;
horizontalAngle = atan2(v.x, sqrt(v.z * v.z + v.y * v.y)) * Angle::Rad2Deg;
distance = v.magnitude();
}

32
test/Spherical_test.cc Normal file
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@ -0,0 +1,32 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include "Spherical.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Spherical, FromVector3) {
Vector3 v = Vector3(0, 0, 1);
Spherical s = Spherical::Spherical(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 0 1";
EXPECT_FLOAT_EQ(s.horizontalAngle, 0.0F) << "s.hor 0 0 1";
EXPECT_FLOAT_EQ(s.verticalAngle, 0.0F) << "s.vert 0 0 1";
v = Vector3(0, 1, 0);
s = Spherical::Spherical(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 1 0";
EXPECT_FLOAT_EQ(s.horizontalAngle, 0.0F) << "s.hor 0 1 0";
EXPECT_FLOAT_EQ(s.verticalAngle, 90.0F) << "s.vert 0 1 0";
v = Vector3(1, 0, 0);
s = Spherical::Spherical(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 1 0 0";
EXPECT_FLOAT_EQ(s.horizontalAngle, 90.0F) << "s.hor 1 0 0";
EXPECT_FLOAT_EQ(s.verticalAngle, 0.0F) << "s.vert 1 0 0";
}
#endif