From 811232fb0efd8b14961cb18ff27199d71ada9da5 Mon Sep 17 00:00:00 2001 From: pxalcantara Date: Tue, 27 Oct 2020 20:49:57 -0300 Subject: [PATCH 1/6] Changed from EXPECT_TRUE to EXPECT_EQ. Signed-off-by: pxalcantara --- src/Quaternion_TEST.cc | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc index 8b9c1527e..018ef735f 100644 --- a/src/Quaternion_TEST.cc +++ b/src/Quaternion_TEST.cc @@ -247,42 +247,39 @@ TEST(QuaternionTest, Integrate) TEST(QuaternionTest, MathLog) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); + EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); - EXPECT_TRUE(q.Log() == - math::Quaterniond(0, -1.02593, 0.162491, 1.02593)); + EXPECT_EQ(q.Log(), math::Quaterniond(0, -1.02593, 0.162491, 1.02593)); math::Quaterniond q1 = q; q1.W(2.0); - EXPECT_TRUE(q1.Log() == - math::Quaterniond(0, -0.698401, 0.110616, 0.698401)); + EXPECT_EQ(q1.Log(), math::Quaterniond(0, -0.698401, 0.110616, 0.698401)); } ///////////////////////////////////////////////// TEST(QuaternionTest, MathExp) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); + EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); - EXPECT_TRUE(q.Exp() == - math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972)); + EXPECT_EQ(q.Exp(), math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972)); math::Quaterniond q1 = q; q1.X(0.000000001); q1.Y(0.0); q1.Z(0.0); q1.W(0.0); - EXPECT_TRUE(q1.Exp() == math::Quaterniond(1, 0, 0, 0)); + EXPECT_EQ(q1.Exp(), math::Quaterniond(1, 0, 0, 0)); } ///////////////////////////////////////////////// TEST(QuaternionTest, MathInvert) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); + EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); q.Invert(); - EXPECT_TRUE(q == math::Quaterniond(0.110616, 0.698401, -0.110616, -0.698401)); + EXPECT_EQ(q, math::Quaterniond(0.110616, 0.698401, -0.110616, -0.698401)); } From d43626d2e0e037b08e7f93b735388f97a66da09e Mon Sep 17 00:00:00 2001 From: pxalcantara Date: Tue, 27 Oct 2020 20:54:00 -0300 Subject: [PATCH 2/6] Separate Axis function test. Signed-off-by: pxalcantara --- src/Quaternion_TEST.cc | 21 +++++++++++++++++---- 1 file changed, 17 insertions(+), 4 deletions(-) diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc index 018ef735f..4603de68b 100644 --- a/src/Quaternion_TEST.cc +++ b/src/Quaternion_TEST.cc @@ -282,6 +282,19 @@ TEST(QuaternionTest, MathInvert) EXPECT_EQ(q, math::Quaterniond(0.110616, 0.698401, -0.110616, -0.698401)); } +///////////////////////////////////////////////// +TEST(QuaternionTest, MathAxis) +{ + math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); + EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); + + q.Axis(0, 1, 0, IGN_PI); + EXPECT_EQ(q, math::Quaterniond(6.12303e-17, 0, 1, 0)); + + q.Axis(math::Vector3d(1, 0, 0), IGN_PI); + EXPECT_EQ(q, math::Quaterniond(0, 1, 0, 0)); +} + ///////////////////////////////////////////////// TEST(QuaternionTest, Math) @@ -289,11 +302,11 @@ TEST(QuaternionTest, Math) math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); - q.Axis(0, 1, 0, IGN_PI); - EXPECT_TRUE(q == math::Quaterniond(6.12303e-17, 0, 1, 0)); + // q.Axis(0, 1, 0, IGN_PI); + // EXPECT_TRUE(q == math::Quaterniond(6.12303e-17, 0, 1, 0)); - q.Axis(math::Vector3d(1, 0, 0), IGN_PI); - EXPECT_TRUE(q == math::Quaterniond(0, 1, 0, 0)); + // q.Axis(math::Vector3d(1, 0, 0), IGN_PI); + // EXPECT_TRUE(q == math::Quaterniond(0, 1, 0, 0)); q.Set(1, 2, 3, 4); EXPECT_TRUE(math::equal(q.W(), 1.0)); From 3620ac8023b29fd4989a3cdae5c66c54960d025f Mon Sep 17 00:00:00 2001 From: pxalcantara Date: Tue, 27 Oct 2020 21:03:03 -0300 Subject: [PATCH 3/6] Separate Set fuction test. Signed-off-by: pxalcantara --- src/Quaternion_TEST.cc | 21 ++++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc index 4603de68b..0d14649a7 100644 --- a/src/Quaternion_TEST.cc +++ b/src/Quaternion_TEST.cc @@ -262,7 +262,8 @@ TEST(QuaternionTest, MathExp) math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); - EXPECT_EQ(q.Exp(), math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972)); + EXPECT_EQ(q.Exp(), + math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972)); math::Quaterniond q1 = q; q1.X(0.000000001); @@ -295,6 +296,18 @@ TEST(QuaternionTest, MathAxis) EXPECT_EQ(q, math::Quaterniond(0, 1, 0, 0)); } +TEST(QuaternionTest, MathSet) +{ + math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); + EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); + + q.Set(1, 2, 3, 4); + EXPECT_TRUE(math::equal(q.W(), 1.0)); + EXPECT_TRUE(math::equal(q.X(), 2.0)); + EXPECT_TRUE(math::equal(q.Y(), 3.0)); + EXPECT_TRUE(math::equal(q.Z(), 4.0)); +} + ///////////////////////////////////////////////// TEST(QuaternionTest, Math) @@ -302,12 +315,6 @@ TEST(QuaternionTest, Math) math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); - // q.Axis(0, 1, 0, IGN_PI); - // EXPECT_TRUE(q == math::Quaterniond(6.12303e-17, 0, 1, 0)); - - // q.Axis(math::Vector3d(1, 0, 0), IGN_PI); - // EXPECT_TRUE(q == math::Quaterniond(0, 1, 0, 0)); - q.Set(1, 2, 3, 4); EXPECT_TRUE(math::equal(q.W(), 1.0)); EXPECT_TRUE(math::equal(q.X(), 2.0)); From d78d29c2c6004e1978bcddb169ea988162701424 Mon Sep 17 00:00:00 2001 From: pxalcantara Date: Tue, 27 Oct 2020 21:08:16 -0300 Subject: [PATCH 4/6] Separate Normalized fuction test. Signed-off-by: pxalcantara --- src/Quaternion_TEST.cc | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc index 0d14649a7..8978f3b36 100644 --- a/src/Quaternion_TEST.cc +++ b/src/Quaternion_TEST.cc @@ -296,6 +296,7 @@ TEST(QuaternionTest, MathAxis) EXPECT_EQ(q, math::Quaterniond(0, 1, 0, 0)); } +///////////////////////////////////////////////// TEST(QuaternionTest, MathSet) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); @@ -308,6 +309,14 @@ TEST(QuaternionTest, MathSet) EXPECT_TRUE(math::equal(q.Z(), 4.0)); } +///////////////////////////////////////////////// +TEST(QuaternionTest, MathNormalized) +{ + math::Quaterniond q(1, 2, 3, 4); + + math::Quaterniond q2 = q.Normalized(); + EXPECT_EQ(q2, math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297)); +} ///////////////////////////////////////////////// TEST(QuaternionTest, Math) @@ -321,9 +330,6 @@ TEST(QuaternionTest, Math) EXPECT_TRUE(math::equal(q.Y(), 3.0)); EXPECT_TRUE(math::equal(q.Z(), 4.0)); - math::Quaterniond q2 = q.Normalized(); - EXPECT_TRUE(q2 == math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297)); - q.Normalize(); EXPECT_TRUE(q == math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297)); From dc2ba0661fa081cbed11338d2d5ca8fa47aebfa2 Mon Sep 17 00:00:00 2001 From: pxalcantara Date: Tue, 27 Oct 2020 21:12:56 -0300 Subject: [PATCH 5/6] Separate Normalize fuction test. Signed-off-by: pxalcantara --- src/Quaternion_TEST.cc | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc index 8978f3b36..d1e6a39d8 100644 --- a/src/Quaternion_TEST.cc +++ b/src/Quaternion_TEST.cc @@ -318,6 +318,15 @@ TEST(QuaternionTest, MathNormalized) EXPECT_EQ(q2, math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297)); } +///////////////////////////////////////////////// +TEST(QuaternionTest, MathNormalize) +{ + math::Quaterniond q(1, 2, 3, 4); + + q.Normalize(); + EXPECT_EQ(q, math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297)); +} + ///////////////////////////////////////////////// TEST(QuaternionTest, Math) { From 167ec96f37bf155dbc4c8a621f5d807a0e471beb Mon Sep 17 00:00:00 2001 From: pxalcantara Date: Wed, 28 Oct 2020 17:18:44 -0300 Subject: [PATCH 6/6] Remove duplicate test. Signed-off-by: pxalcantara --- src/Quaternion_TEST.cc | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc index d1e6a39d8..4c7e26e25 100644 --- a/src/Quaternion_TEST.cc +++ b/src/Quaternion_TEST.cc @@ -247,7 +247,6 @@ TEST(QuaternionTest, Integrate) TEST(QuaternionTest, MathLog) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); EXPECT_EQ(q.Log(), math::Quaterniond(0, -1.02593, 0.162491, 1.02593)); @@ -260,7 +259,6 @@ TEST(QuaternionTest, MathLog) TEST(QuaternionTest, MathExp) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); EXPECT_EQ(q.Exp(), math::Quaterniond(0.545456, -0.588972, 0.093284, 0.588972)); @@ -277,7 +275,6 @@ TEST(QuaternionTest, MathExp) TEST(QuaternionTest, MathInvert) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); q.Invert(); EXPECT_EQ(q, math::Quaterniond(0.110616, 0.698401, -0.110616, -0.698401)); @@ -287,7 +284,6 @@ TEST(QuaternionTest, MathInvert) TEST(QuaternionTest, MathAxis) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); q.Axis(0, 1, 0, IGN_PI); EXPECT_EQ(q, math::Quaterniond(6.12303e-17, 0, 1, 0)); @@ -300,7 +296,6 @@ TEST(QuaternionTest, MathAxis) TEST(QuaternionTest, MathSet) { math::Quaterniond q(IGN_PI*0.1, IGN_PI*0.5, IGN_PI); - EXPECT_EQ(q, math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); q.Set(1, 2, 3, 4); EXPECT_TRUE(math::equal(q.W(), 1.0)); @@ -334,13 +329,8 @@ TEST(QuaternionTest, Math) EXPECT_TRUE(q == math::Quaterniond(0.110616, -0.698401, 0.110616, 0.698401)); q.Set(1, 2, 3, 4); - EXPECT_TRUE(math::equal(q.W(), 1.0)); - EXPECT_TRUE(math::equal(q.X(), 2.0)); - EXPECT_TRUE(math::equal(q.Y(), 3.0)); - EXPECT_TRUE(math::equal(q.Z(), 4.0)); q.Normalize(); - EXPECT_TRUE(q == math::Quaterniond(0.182574, 0.365148, 0.547723, 0.730297)); EXPECT_TRUE(math::equal(q.Roll(), 1.4289, 1e-3)); EXPECT_TRUE(math::equal(q.Pitch(), -0.339837, 1e-3));