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Fixed up tests

This commit is contained in:
Martin Budden 2016-11-20 09:36:14 +00:00
parent dc56f143f3
commit 5cd5eb96e5
1 changed files with 32 additions and 34 deletions
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66
src/test/unit/alignsensor_unittest.cc
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@ -98,7 +98,6 @@ static void initZAxisRotation(int32_t mat[][3], int32_t angle)
static void testCW(sensor_align_e rotation, int32_t angle)
{
int32_t src[XYZ_AXIS_COUNT];
int32_t dest[XYZ_AXIS_COUNT];
int32_t test[XYZ_AXIS_COUNT];
// unit vector along x-axis
@ -110,10 +109,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
initZAxisRotation(matrix, angle);
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
alignSensors(src, rotation);
EXPECT_EQ(test[X], src[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
// unit vector along y-axis
src[X] = 0;
@ -121,10 +120,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
src[Z] = 0;
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
alignSensors(src, rotation);
EXPECT_EQ(test[X], src[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
// unit vector along z-axis
src[X] = 0;
@ -132,10 +131,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
src[Z] = 1;
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
alignSensors(src, rotation);
EXPECT_EQ(test[X], src[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
// random vector to test
src[X] = rand() % 5;
@ -143,10 +142,10 @@ static void testCW(sensor_align_e rotation, int32_t angle)
src[Z] = rand() % 5;
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
alignSensors(src, rotation);
EXPECT_EQ(test[X], src[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
}
/*
@ -156,7 +155,6 @@ static void testCW(sensor_align_e rotation, int32_t angle)
static void testCWFlip(sensor_align_e rotation, int32_t angle)
{
int32_t src[XYZ_AXIS_COUNT];
int32_t dest[XYZ_AXIS_COUNT];
int32_t test[XYZ_AXIS_COUNT];
// unit vector along x-axis
@ -170,11 +168,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
alignSensors(src, rotation);
EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
EXPECT_EQ(test[X], src[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
// unit vector along y-axis
src[X] = 0;
@ -186,11 +184,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
alignSensors(src, rotation);
EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
EXPECT_EQ(test[X], src[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
// unit vector along z-axis
src[X] = 0;
@ -202,11 +200,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
alignSensors(src, rotation);
EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
EXPECT_EQ(test[X], src[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
// random vector to test
src[X] = rand() % 5;
@ -218,11 +216,11 @@ static void testCWFlip(sensor_align_e rotation, int32_t angle)
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
alignSensors(src, rotation);
EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
EXPECT_EQ(test[X], src[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << src[X];
EXPECT_EQ(test[Y], src[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << src[Y];
EXPECT_EQ(test[Z], src[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << src[Z];
}