Slow working on bringing the old code up to standard.
- Documentation updates - most of the old files use non-Doxygen or no/minimal header comments. - Rework SimpleSuite to be more useful. - Coverity-surfaced fixes.
This commit is contained in:
parent
a9991f241a
commit
b1bbaebdac
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@ -1,6 +1,7 @@
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<component name="InspectionProjectProfileManager">
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<profile version="1.0">
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<option name="myName" value="Project Default" />
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<inspection_tool class="ClangTidy" enabled="false" level="WARNING" enabled_by_default="false" />
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<inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
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<inspection_tool class="SpellCheckingInspection" enabled="false" level="TYPO" enabled_by_default="false">
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<option name="processCode" value="true" />
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@ -44,16 +44,17 @@ set(HEADER_FILES
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include/scsl/StringUtil.h
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include/scsl/TLV.h
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include/scmp/scmp.h
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include/scmp/Math.h
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include/scmp/Motion2D.h
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include/scmp/geom/Coord2D.h
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include/scmp/geom/Orientation.h
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include/scmp/geom/Quaternion.h
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include/scmp/geom/Vector.h
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include/scmp/filter/Madgwick.h
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include/sctest/Assert.h
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include/sctest/Report.h
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include/scmp/filter/Madgwick.h
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)
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include_directories(include)
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@ -1,4 +1,26 @@
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/// math.h provides certain useful mathematical functions.
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///
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/// \file include/scmp/Math.h
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/// \author K. Isom <kyle@imap.cc>
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/// \date 2017-06-05
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/// \brief Common math functions.
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///
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/// Arena defines a memory management backend for pre-allocating memory.
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///
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/// Copyright 2023 K. Isom <kyle@imap.cc>
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///
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/// Permission to use, copy, modify, and/or distribute this software for
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/// any purpose with or without fee is hereby granted, provided that
|
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/// the above copyright notice and this permission notice appear in all /// copies.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
|
||||
/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
|
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/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
|
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/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
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/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
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/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
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/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
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/// PERFORMANCE OF THIS SOFTWARE.
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///
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#ifndef SCCCL_MATH_H
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#define SCCCL_MATH_H
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@ -9,7 +31,7 @@
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namespace scmp {
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// MAX_RADIAN is a precomputed 2 * M_PI, and MIN_RADIAN is -2 * M_PI.
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/// MAX_RADIAN is a precomputed 2 * M_PI. and MIN_RADIAN is -2 * M_PI.
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constexpr double MAX_RADIAN = 2 * M_PI;
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constexpr double MIN_RADIAN = -2 * M_PI;
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constexpr double POS_HALF_RADIAN = M_PI / 2;
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@ -18,8 +40,10 @@ constexpr double NEG_HALF_RADIAN = -(M_PI / 2);
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/// Roll m die of n sides, returning a vector of the dice.
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std::vector<int> Die(int m, int n);
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/// Roll m die of n sides, returning the total of the die.
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int DieTotal(int m, int n);
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/// Roll m die of n sides, and take the total of the top k die.
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int BestDie(int k, int m, int n);
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@ -34,8 +34,9 @@
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#include <scmp/geom/Quaternion.h>
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/// scmp contains the wntrmute robotics code.
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/// scmp contains the chimmering clarity math and physics code.
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namespace scmp {
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/// filter contains filtering algorithms.
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namespace filter {
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@ -54,30 +55,30 @@ namespace filter {
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template <typename T>
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class Madgwick {
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public:
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/// The Madgwick filter is initialised with an identity quaternion.
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/// \brief The Madgwick filter is initialised with an identity quaternion.
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Madgwick() : deltaT(0.0), previousSensorFrame(), sensorFrame() {};
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/// The Madgwick filter is initialised with a sensor frame.
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/// \brief The Madgwick filter is initialised with a sensor frame.
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///
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/// \param sf A sensor frame; if zero, the sensor frame will be
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/// initialised as an identity quaternion.
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Madgwick(scmp::geom::Vector<T, 3> sf) : deltaT(0.0), previousSensorFrame()
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{
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if (!sf.isZero()) {
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sensorFrame = scmp::geom::quaternion(sf, 0.0);
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sensorFrame = scmp::geom::quaternion<T>(sf, 0.0);
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}
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}
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/// Initialise the filter with a sensor frame quaternion.
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/// \brief Initialise the filter with a sensor frame quaternion.
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///
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/// \param sf A quaternion representing the current Orientation.
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Madgwick(scmp::geom::Quaternion<T> sf) :
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deltaT(0.0), previousSensorFrame(), sensorFrame(sf) {};
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/// Return the current Orientation as measured by the filter.
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/// \brief Return the current Orientation as measured by the filter.
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///
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/// \return The current sensor frame.
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scmp::geom::Quaternion<T>
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@ -87,6 +88,9 @@ public:
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}
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/// \brief Return the filter's rate of angular change from a
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/// sensor frame.
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///
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/// Return the rate of change of the Orientation of the earth frame
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/// with respect to the sensor frame.
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///
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@ -99,7 +103,7 @@ public:
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return (this->sensorFrame * 0.5) * scmp::geom::Quaternion<T>(gyro, 0.0);
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}
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/// Update the sensor frame to a new frame.
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/// \brief Update the sensor frame to a new frame.
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///
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/// \param sf The new sensor frame replacing the previous one.
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/// \param delta The time delta since the last update.
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@ -112,7 +116,7 @@ public:
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}
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/// Update the sensor frame with a gyroscope reading.
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/// \brief Update the sensor frame with a gyroscope reading.
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///
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/// \param gyro A three-dimensional vector containing gyro readings
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/// as w_x, w_y, w_z.
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@ -121,14 +125,14 @@ public:
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UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro, T delta)
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{
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// Ensure the delta isn't zero within a 100 μs tolerance.
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assert(!scmp::WithinTolerance(delta, 0.0, 0.0001));
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assert(!scmp::WithinTolerance<T>(delta, 0.0, 0.0001));
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scmp::geom::Quaternion<T> q = this->AngularRate(gyro) * delta;
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this->UpdateFrame(this->sensorFrame + q, delta);
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}
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/// Retrieve a vector of the Euler angles in ZYX Orientation.
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/// \brief Retrieve a vector of the Euler angles in ZYX Orientation.
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///
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/// \return A vector of Euler angles as <ψ, θ, ϕ>.
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scmp::geom::Vector<T, 3>
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@ -144,11 +148,11 @@ private:
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};
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/// Madgwickd is a shorthand alias for a Madgwick<double>.
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typedef Madgwick<double> Madgwickd;
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/// \brief Madgwickd is a shorthand alias for a Madgwick<double>.
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using Madgwickd = Madgwick<double>;
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/// Madgwickf is a shorthand alias for a Madgwick<float>.
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typedef Madgwick<float> Madgwickf;
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/// \brief Madgwickf is a shorthand alias for a Madgwick<float>.
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using Madgwickf = Madgwick<float>;
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} // namespace filter
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@ -0,0 +1,33 @@
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///
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/// \file include/scmp/scmp.h
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/// \author K. Isom <kyle@imap.cc>
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/// \date 2023-10-19
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/// \brief Aggregated scmp include header.
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///
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/// Copyright 2023 K. Isom <kyle@imap.cc>
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///
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/// Permission to use, copy, modify, and/or distribute this software for
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/// any purpose with or without fee is hereby granted, provided that
|
||||
/// the above copyright notice and this permission notice appear in all /// copies.
|
||||
///
|
||||
/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
|
||||
/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
|
||||
/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
|
||||
/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
|
||||
/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
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/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
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/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
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/// PERFORMANCE OF THIS SOFTWARE.
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///
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#ifndef SCSL_SCMP_H
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#define SCSL_SCMP_H
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/// \brief Shimmering Clarity Math & Physics toolkit.
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namespace scmp {
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} // namespace scmp
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#endif //SCSL_SCMP_H
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@ -21,12 +21,6 @@
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/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
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/// PERFORMANCE OF THIS SOFTWARE.
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///
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/// \section PLATFORM SUPPORT
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///
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/// Arena will build on the major platforms, but memory-mapped files are only
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/// supported on Unix-like systems. File I/O on Windows, for example, reads the
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/// file into an allocated arena. See Arena::Open for more details.
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#ifndef KIMODEM_ARENA_H
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#define KIMODEM_ARENA_H
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@ -35,16 +35,11 @@ namespace sctest {
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#define SCTEST_CHECK_FALSE(x) if ((x)) { return false; }
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#define SCTEST_CHECK_EQ(x, y) if ((x) != (y)) { return false; }
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#define SCTEST_CHECK_NE(x, y) if ((x) == (y)) { return false; }
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#define SCTEST_CHECK_ZERO(x) if ((x) != 0) { return false; }
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#define SCTEST_CHECK_GTZ(x) if ((x) > 0) { return false; }
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#define SCTEST_CHECK_GEZ(x) if ((x) >= 0) { return false; }
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#define SCTEST_CHECK_LEZ(x) if ((x) <= 0) { return false; }
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#define SCTEST_CHECK_LTZ(x) if ((x) < 0) { return false; }
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#define SCTEST_CHECK_FEQ(x, y) { float eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
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#define SCTEST_CHECK_DEQ(x, y) { double eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
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#define SCTEST_CHECK_FEQ_EPS(x, y, eps) { if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
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#define SCTEST_CHECK_DEQ_EPS(x, y, eps) { if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
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#define SCTEST_CHECK_FEQ_EPS(x, y, eps) { if (!scmp::WithinTolerance<float>((x), (y), eps)) { return false; }}
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#define SCTEST_CHECK_DEQ_EPS(x, y, eps) { if (!scmp::WithinTolerance<double>((x), (y), eps)) { return false; }}
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} // namespace sctest
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@ -28,21 +28,42 @@
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namespace sctest {
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typedef struct _Report {
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// Failing stores the number of failing tests; for tests added
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// with AddTest, this is a test that returned false. For tests
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// added with AddFailingTest, this is a test that returned true.
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size_t Failing;
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// Total is the number of tests registered during the last run.
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size_t Total;
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class Report {
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public:
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/// \brief Failing returns the count of failed tests.
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///
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/// \details If a test is run and expected to pass, but fails,
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/// it is marked as failed. If a test is expected to
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/// fail, but passes, it is marked as failed.
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///
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/// \return The number of tests that failed.
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size_t Failing() const;
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std::chrono::time_point<std::chrono::steady_clock> Start;
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std::chrono::time_point<std::chrono::steady_clock> End;
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std::chrono::duration<double> Duration;
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/// \brief Total is the number of tests registered.
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size_t Total() const;
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void Failed();
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void AddTest(size_t testCount = 0);
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void Reset(size_t testCount = 0);
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void Start();
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void End();
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std::chrono::duration<double, std::milli>
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Elapsed() const;
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Report();
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private:
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size_t failing{};
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size_t total{};
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std::chrono::time_point<std::chrono::steady_clock> start;
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std::chrono::time_point<std::chrono::steady_clock> end;
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};
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std::ostream &operator<<(std::ostream &os, const Report &report);
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} // end namespace sctest
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_Report();
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} Report;
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} // end namespace test
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#endif
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@ -1,30 +1,28 @@
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//
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// Project: scccl
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// File: include/test/SimpleSuite.h
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// Author: Kyle Isom
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// Date: 2017-06-05
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// Namespace: test
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//
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// SimpleSuite.h defines the SimpleSuite class for unit testing.
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//
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// Copyright 2017 Kyle Isom <kyle@imap.cc>
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
///
|
||||
/// \file SimpleSuite.h
|
||||
/// \author K. Isom <kyle@imap.cc>
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/// \date 2017-06-05
|
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/// \brief Defines a simple unit testing framework.
|
||||
///
|
||||
/// Copyright 2017 K. Isom <kyle@imap.cc>
|
||||
///
|
||||
/// Permission to use, copy, modify, and/or distribute this software for
|
||||
/// any purpose with or without fee is hereby granted, provided that
|
||||
/// the above copyright notice and this permission notice appear in all /// copies.
|
||||
///
|
||||
/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
|
||||
/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
|
||||
/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
|
||||
/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
|
||||
/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
|
||||
/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
|
||||
/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
|
||||
/// PERFORMANCE OF THIS SOFTWARE.
|
||||
///
|
||||
|
||||
#ifndef SCTEST_SIMPLESUITE_H
|
||||
#define SCTEST_SIMPLESUITE_H
|
||||
|
||||
// SimpleSuite.h
|
||||
// This header file defines the interface for a simple suite of tests.
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||||
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||||
#include <functional>
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||||
#include <string>
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|
@ -34,54 +32,91 @@
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|||
|
||||
namespace sctest {
|
||||
|
||||
typedef struct {
|
||||
std::string name;
|
||||
std::function<bool(void)> test;
|
||||
} TestCase;
|
||||
|
||||
/// \brief UnitTest describes a single unit test. It is a predicate:
|
||||
/// did the test pass?
|
||||
struct UnitTest {
|
||||
/// What name should be shown when running tests?
|
||||
std::string name;
|
||||
|
||||
/// This is the test function to be run.
|
||||
std::function<bool()> test;
|
||||
};
|
||||
|
||||
/// \brief SimpleSuite is a test-running harness for simple tests.
|
||||
///
|
||||
/// A simple test is defined as a test that takes no arguments and
|
||||
/// returns a boolean status where true indicates the test has passed.
|
||||
class SimpleSuite {
|
||||
public:
|
||||
public:
|
||||
SimpleSuite();
|
||||
|
||||
// Silence suppresses output.
|
||||
void Silence(void) { quiet = true; }
|
||||
/// \brief Silence suppresses output.
|
||||
void Silence();
|
||||
|
||||
// Setup defines a setup function; this should be a predicate. This function
|
||||
// is called at the start of the Run method, before tests are run.
|
||||
/// \brief Define a suite setup function.
|
||||
///
|
||||
/// If present, this setup function is called at the start of
|
||||
/// the Run method, before tests are run. It should be a
|
||||
/// predicate: if it returns false, tests automatically fail.
|
||||
void Setup(std::function<bool(void)> setupFn) { fnSetup = setupFn; }
|
||||
|
||||
// Teardown defines a teardown function; this should be a predicate. This
|
||||
// function is called at the end of the Run method, after all tests have run.
|
||||
/// \brief Define a teardown function.
|
||||
///
|
||||
/// If present, this teardown function is called at the end of
|
||||
/// the Run method, after all tests have run.
|
||||
void Teardown(std::function<bool(void)> teardownFn) { fnTeardown = teardownFn; }
|
||||
|
||||
// AddTest is used to add a test that is expected to return true.
|
||||
void AddTest(std::string, std::function<bool(void)>);
|
||||
/// \brief Register a new simple test.
|
||||
///
|
||||
/// \param label The text that will identify test when
|
||||
/// running.
|
||||
/// \param test This test should return true if the test has
|
||||
/// passed.
|
||||
void AddTest(std::string label, std::function<bool(void)> test);
|
||||
|
||||
// AddFailingTest is used to add a test that is expected to return false.
|
||||
void AddFailingTest(std::string, std::function<bool(void)>);
|
||||
/// \brief Register a test that is expected to return false.
|
||||
///
|
||||
/// \param label The text that will identify test when
|
||||
/// running.
|
||||
/// \param test This test should return false if the test has
|
||||
/// passed.
|
||||
void AddFailingTest(std::string label, std::function<bool(void)> test);
|
||||
|
||||
bool Run(void);
|
||||
/// \brief Run all the registered tests.
|
||||
///
|
||||
/// \return True if all tests have passed.
|
||||
bool Run();
|
||||
|
||||
// Reporting methods.
|
||||
/// Reporting methods.
|
||||
|
||||
// Reset clears the report statistics.
|
||||
void Reset(void) { report.Failing = report.Total = 0; hasRun = false; };
|
||||
/// \brief Reset clears the report statistics.
|
||||
///
|
||||
/// Reset will preserve the setup and teardown functions, just
|
||||
/// resetting the suite's internal state.
|
||||
void Reset();
|
||||
|
||||
// IsReportReady returns true if a report is ready.
|
||||
bool IsReportReady(void) { return hasRun; }
|
||||
/// \brief
|
||||
// HasRun returns true if a report is ready.
|
||||
bool HasRun() const;
|
||||
|
||||
// Report returns a Report.
|
||||
Report GetReport(void);
|
||||
|
||||
private:
|
||||
private:
|
||||
bool quiet;
|
||||
std::function<bool(void)> fnSetup, fnTeardown;
|
||||
std::vector<TestCase> tests;
|
||||
std::vector<UnitTest> tests;
|
||||
|
||||
// Report functions.
|
||||
Report report;
|
||||
bool hasRun; // Have the tests been run yet?
|
||||
bool hasPassed;
|
||||
};
|
||||
|
||||
} // end namespace test
|
||||
|
||||
std::ostream& operator<<(std::ostream& os, SimpleSuite &suite);
|
||||
|
||||
|
||||
} // namespace sctest
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -109,12 +109,19 @@ Buffer::Append(const std::string s)
|
|||
bool
|
||||
Buffer::Append(const uint8_t *data, const size_t datalen)
|
||||
{
|
||||
if (datalen == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
auto resized = false;
|
||||
auto newCap = this->mustGrow(datalen);
|
||||
|
||||
if (newCap > 0) {
|
||||
this->Resize(newCap);
|
||||
resized = true;
|
||||
} else if (this->contents == nullptr) {
|
||||
this->Resize(this->capacity);
|
||||
resized = true;
|
||||
}
|
||||
|
||||
assert(this->contents != nullptr);
|
||||
|
|
|
|||
|
|
@ -22,16 +22,96 @@
|
|||
/// PERFORMANCE OF THIS SOFTWARE.
|
||||
|
||||
#include <chrono>
|
||||
#include <iomanip>
|
||||
#include <ostream>
|
||||
|
||||
#include <sctest/Report.h>
|
||||
|
||||
|
||||
|
||||
namespace sctest {
|
||||
|
||||
|
||||
_Report::_Report()
|
||||
: Failing (0), Total(0), Start(std::chrono::steady_clock::now()),
|
||||
End(std::chrono::steady_clock::now()), Duration(0) {}
|
||||
Report::Report()
|
||||
{
|
||||
this->Reset(0);
|
||||
}
|
||||
|
||||
|
||||
} // end namespace test
|
||||
size_t
|
||||
Report::Failing() const
|
||||
{
|
||||
return this->failing;
|
||||
}
|
||||
|
||||
|
||||
size_t
|
||||
Report::Total() const
|
||||
{
|
||||
return this->total;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
Report::Failed()
|
||||
{
|
||||
this->failing++;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
Report::AddTest(size_t testCount)
|
||||
{
|
||||
this->total += testCount;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
Report::Reset(size_t testCount)
|
||||
{
|
||||
auto now = std::chrono::steady_clock::now();
|
||||
this->total = testCount;
|
||||
this->failing = 0;
|
||||
|
||||
this->Start();
|
||||
this->end = now;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
Report::Start()
|
||||
{
|
||||
this->start = std::chrono::steady_clock::now();
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
Report::End()
|
||||
{
|
||||
this->end = std::chrono::steady_clock::now();
|
||||
}
|
||||
|
||||
|
||||
std::chrono::duration<double, std::milli>
|
||||
Report::Elapsed() const
|
||||
{
|
||||
return this->end - this->start;
|
||||
}
|
||||
|
||||
|
||||
std::ostream&
|
||||
operator<<(std::ostream &os, const Report &report)
|
||||
{
|
||||
auto elapsed = report.Elapsed();
|
||||
|
||||
os << report.Total() - report.Failing() << "/"
|
||||
<< report.Total() << " tests passed in "
|
||||
<< std::setw(3) << elapsed.count() << "ms";
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
|
||||
} // end namespace sctest
|
||||
|
|
@ -20,7 +20,6 @@
|
|||
/// PERFORMANCE OF THIS SOFTWARE.
|
||||
///
|
||||
|
||||
#include <chrono>
|
||||
#include <iostream>
|
||||
|
||||
#include <sctest/SimpleSuite.h>
|
||||
|
|
@ -39,14 +38,22 @@ SimpleSuite::SimpleSuite()
|
|||
: quiet(false), fnSetup(stub), fnTeardown(stub), tests(),
|
||||
report(), hasRun(false)
|
||||
{
|
||||
this->Reset();
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SimpleSuite::Silence()
|
||||
{
|
||||
// Silence will fall.
|
||||
quiet = true;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SimpleSuite::AddTest(std::string name, std::function<bool()> test)
|
||||
{
|
||||
TestCase test_case = {name, test};
|
||||
UnitTest const test_case = {name, test};
|
||||
tests.push_back(test_case);
|
||||
}
|
||||
|
||||
|
|
@ -55,7 +62,7 @@ void
|
|||
SimpleSuite::AddFailingTest(std::string name, std::function<bool()> test)
|
||||
{
|
||||
// auto ntest = [&test]() { return !test(); };
|
||||
TestCase test_case = {name, [&test]() { return !test(); }};
|
||||
UnitTest test_case = {name, [&test]() { return !test(); }};
|
||||
tests.push_back(test_case);
|
||||
}
|
||||
|
||||
|
|
@ -63,38 +70,55 @@ SimpleSuite::AddFailingTest(std::string name, std::function<bool()> test)
|
|||
bool
|
||||
SimpleSuite::Run()
|
||||
{
|
||||
report.Start = std::chrono::steady_clock::now();
|
||||
report.Reset(this->tests.size());
|
||||
|
||||
unless(quiet) { std::cout << "Setting up the tests.\n"; }
|
||||
unless(fnSetup()) { return false; }
|
||||
|
||||
// Reset the failed test counts.
|
||||
report.Failing = 0;
|
||||
this->hasRun = true;
|
||||
this->hasPassed = true;
|
||||
|
||||
bool result = true;
|
||||
hasRun = true;
|
||||
report.Total = tests.size();
|
||||
for (size_t i = 0; i < report.Total && result; i++) {
|
||||
TestCase tc = tests.at(i);
|
||||
for (size_t i = 0; i < this->report.Total() && this->hasPassed; i++) {
|
||||
const UnitTest testCase = this->tests.at(i);
|
||||
unless(quiet) {
|
||||
std::cout << "[" << i + 1 << "/" << report.Total << "] Running test " << tc.name << ": ";
|
||||
std::cout << "[" << i + 1 << "/"
|
||||
<< this -> report.Total()
|
||||
<< "] Running test "
|
||||
<< testCase.name << ": ";
|
||||
}
|
||||
|
||||
result = tc.test();
|
||||
this->hasPassed = testCase.test();
|
||||
if (quiet) { continue; }
|
||||
|
||||
if (result) {
|
||||
if (this->hasPassed) {
|
||||
std::cout << "[PASS]";
|
||||
} else {
|
||||
std::cout << "[FAIL]";
|
||||
report.Failing++;
|
||||
report.Failed();
|
||||
}
|
||||
std::cout << "\n";
|
||||
}
|
||||
|
||||
unless(quiet) { std::cout << "Tearing down the tests.\n"; }
|
||||
unless(fnTeardown()) { return false; }
|
||||
report.End = std::chrono::steady_clock::now();
|
||||
return result;
|
||||
report.End();
|
||||
return this->hasPassed;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
SimpleSuite::Reset()
|
||||
{
|
||||
this->report.Reset(0);
|
||||
this->hasRun = false;
|
||||
this->hasPassed = false;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
SimpleSuite::HasRun() const
|
||||
{
|
||||
return this->hasRun;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -105,4 +129,17 @@ SimpleSuite::GetReport()
|
|||
}
|
||||
|
||||
|
||||
std::ostream &
|
||||
operator<<(std::ostream &os, SimpleSuite &suite)
|
||||
{
|
||||
if (suite.HasRun()) {
|
||||
os << "OK: " << suite.GetReport();
|
||||
} else {
|
||||
os << "Test suite hasn't run.";
|
||||
}
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
|
||||
} // end namespace sctest
|
||||
153
test/coord2d.cc
153
test/coord2d.cc
|
|
@ -25,21 +25,23 @@
|
|||
|
||||
#include <scmp/Math.h>
|
||||
#include <scmp/geom/Coord2D.h>
|
||||
#include <sctest/SimpleSuite.h>
|
||||
#include <sctest/Checks.h>
|
||||
#include <sctest/SimpleSuite.h>
|
||||
|
||||
using namespace scmp::geom;
|
||||
using namespace sctest;
|
||||
|
||||
|
||||
namespace {
|
||||
#define CHECK_ROTATE(theta, expected) if (!scmp::WithinTolerance(scmp::RotateRadians((double)theta, 0), (double)expected, (double)0.0001)) { \
|
||||
std::cerr << "Expected " << theta << " to wrap to " << expected << std::endl; \
|
||||
std::cerr << " have " << scmp::RotateRadians(theta, 0) << std::endl; \
|
||||
std::cerr << "Expected " << theta << " to wrap to " << expected << "\n"; \
|
||||
std::cerr << " have " << scmp::RotateRadians(theta, 0) << "\n"; \
|
||||
return false; \
|
||||
}
|
||||
|
||||
static bool
|
||||
geom_validate_angular_rotation(void)
|
||||
|
||||
bool
|
||||
geomValidateAngularRotation()
|
||||
{
|
||||
CHECK_ROTATE(0, 0);
|
||||
CHECK_ROTATE(M_PI/4, M_PI/4);
|
||||
|
|
@ -54,17 +56,18 @@ geom_validate_angular_rotation(void)
|
|||
return true;
|
||||
}
|
||||
|
||||
static bool
|
||||
geom_conversion_identities(void)
|
||||
|
||||
bool
|
||||
geomConversionIdentities()
|
||||
{
|
||||
Point2D points[4] = {
|
||||
const std::array<Point2D,4> points = {
|
||||
Point2D(1, 0),
|
||||
Point2D(0, 1),
|
||||
Point2D(-1, 0),
|
||||
Point2D(0, -1)
|
||||
};
|
||||
|
||||
Polar2D polars[4] = {
|
||||
const std::array<Polar2D,4> polars = {
|
||||
Polar2D(1, 0),
|
||||
Polar2D(1, scmp::DegreesToRadiansD(90)),
|
||||
Polar2D(1, scmp::DegreesToRadiansD(180)),
|
||||
|
|
@ -72,92 +75,103 @@ geom_conversion_identities(void)
|
|||
};
|
||||
|
||||
for (auto i = 0; i < 4; i++) {
|
||||
Polar2D pol(points[i]);
|
||||
if (pol != polars[i]) {
|
||||
std::cerr << "! measured value outside tolerance (" << i << ")" << std::endl;
|
||||
std::cerr << " " << points[i] << " → " << pol << " ← " << polars[i] << std::endl;
|
||||
const Polar2D pol(points.at(i));
|
||||
if (pol != polars.at(i)) {
|
||||
std::cerr << "! measured value outside tolerance ("
|
||||
<< i << ")\n";
|
||||
std::cerr << " " << points.at(i) << " → " << pol
|
||||
<< " ← " << polars.at(i) << "\n";
|
||||
return false;
|
||||
}
|
||||
|
||||
Point2D pt(pol);
|
||||
SCTEST_CHECK(pt == points[i]);
|
||||
const Point2D point(pol);
|
||||
SCTEST_CHECK(point == points.at(i));
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool
|
||||
geom_verify_basic_properties(void)
|
||||
{
|
||||
Point2D p1(1, 1);
|
||||
Point2D p2(2, 2);
|
||||
Point2D p3(3, 3);
|
||||
|
||||
SCTEST_CHECK((p1 + p2) == p3);
|
||||
SCTEST_CHECK((p3 - p2) == p1);
|
||||
bool
|
||||
geomVerifyBasicProperties()
|
||||
{
|
||||
const Point2D pt1(1, 1);
|
||||
const Point2D pt2(2, 2);
|
||||
const Point2D pt3(3, 3);
|
||||
|
||||
SCTEST_CHECK((pt1 + pt2) == pt3);
|
||||
SCTEST_CHECK((pt3 - pt2) == pt1);
|
||||
|
||||
// commutative
|
||||
SCTEST_CHECK((p1 + p2) == (p2 + p1));
|
||||
SCTEST_CHECK((p1 + p3) == (p3 + p1));
|
||||
SCTEST_CHECK((p2 + p3) == (p3 + p2));
|
||||
SCTEST_CHECK((pt1 + pt2) == (pt2 + pt1));
|
||||
SCTEST_CHECK((pt1 + pt3) == (pt3 + pt1));
|
||||
SCTEST_CHECK((pt2 + pt3) == (pt3 + pt2));
|
||||
|
||||
// associative
|
||||
SCTEST_CHECK(((p1 + p2) + p3) == (p1 + (p2 + p3)));
|
||||
SCTEST_CHECK(((pt1 + pt2) + pt3) == (pt1 + (pt2 + pt3)));
|
||||
|
||||
// transitive
|
||||
Point2D p4(1, 1);
|
||||
Point2D p5(1, 1);
|
||||
SCTEST_CHECK(p1 == p4);
|
||||
SCTEST_CHECK(p4 == p5);
|
||||
SCTEST_CHECK(p1 == p5);
|
||||
const Point2D pt4(1, 1);
|
||||
const Point2D pt5(1, 1);
|
||||
SCTEST_CHECK(pt1 == pt4);
|
||||
SCTEST_CHECK(pt4 == pt5);
|
||||
SCTEST_CHECK(pt1 == pt5);
|
||||
|
||||
// scaling
|
||||
Point2D p6(2, 3);
|
||||
Point2D p7(8, 12);
|
||||
SCTEST_CHECK((p6 * 4) == p7);
|
||||
const Point2D pt6(2, 3);
|
||||
const Point2D pt7(8, 12);
|
||||
SCTEST_CHECK((pt6 * 4) == pt7);
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool
|
||||
geom_compare_point2d(void)
|
||||
{
|
||||
Point2D p1(1, 1);
|
||||
Point2D p2(1, 1);
|
||||
Point2D p3(0, 1);
|
||||
|
||||
SCTEST_CHECK(p1 == p2);
|
||||
SCTEST_CHECK_FALSE(p2 == p3);
|
||||
bool
|
||||
geomComparePoint2D()
|
||||
{
|
||||
const Point2D pt1(1, 1);
|
||||
const Point2D pt2(1, 1);
|
||||
const Point2D pt3(0, 1);
|
||||
|
||||
SCTEST_CHECK(pt1 == pt2);
|
||||
SCTEST_CHECK_FALSE(pt2 == pt3);
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool
|
||||
geom_rotate_point2d(void)
|
||||
|
||||
bool
|
||||
geomRotatePoint2D()
|
||||
{
|
||||
Point2D vertices[4] = {
|
||||
std::array<Point2D, 4> vertices = {
|
||||
Point2D(1, 0), // θ = 0
|
||||
Point2D(0, 1), // θ = π/2
|
||||
Point2D(-1, 0), // θ = π
|
||||
Point2D(0, -1) // θ = 3π/2
|
||||
};
|
||||
|
||||
Point2D vertex;
|
||||
vertices[0].Rotate(vertex, 1.5708);
|
||||
for (auto i = 0; i < 4; i++) {
|
||||
auto first = i % 4;
|
||||
auto expected = (i + 1) % 4;
|
||||
|
||||
if (vertex != vertices[1]) {
|
||||
std::cerr << "expected: " << vertices[1] << std::endl;
|
||||
std::cerr << " have: " << vertex << std::endl;
|
||||
Point2D vertex;
|
||||
vertices.at(first).Rotate(vertex, 1.5708);
|
||||
|
||||
if (vertex != vertices.at(expected)) {
|
||||
std::cerr << "expected: " << expected << "\n";
|
||||
std::cerr << " have: " << vertex << "\n";
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool
|
||||
geom_rotate_points_about_origin(void)
|
||||
|
||||
bool
|
||||
geomRotatePointsAboutOrigin()
|
||||
{
|
||||
Point2D origin(3, 3);
|
||||
double theta = 0;
|
||||
|
||||
std::vector<Polar2D> vertices {
|
||||
const std::vector<Polar2D> vertices {
|
||||
Polar2D(2, 0),
|
||||
Polar2D(1.41421, 2.35619),
|
||||
Polar2D(1.41421, -2.35619)
|
||||
|
|
@ -203,25 +217,22 @@ geom_rotate_points_about_origin(void)
|
|||
|
||||
return true;
|
||||
}
|
||||
} // anonymous namespace
|
||||
|
||||
|
||||
int
|
||||
main(void)
|
||||
main()
|
||||
{
|
||||
SimpleSuite ts;
|
||||
ts.AddTest("geom_validate_angular_rotation", geom_validate_angular_rotation);
|
||||
ts.AddTest("geom_conversion_identities", geom_conversion_identities);
|
||||
ts.AddTest("geom_verify_basic_properties", geom_verify_basic_properties);
|
||||
ts.AddTest("geom_compare_point2d", geom_compare_point2d);
|
||||
ts.AddTest("geom_rotate_point2d", geom_rotate_point2d);
|
||||
ts.AddTest("geom_rotate_points_about_origin", geom_rotate_points_about_origin);
|
||||
SimpleSuite suite;
|
||||
suite.AddTest("geomValidateAngularRotation", geomValidateAngularRotation);
|
||||
suite.AddTest("geomConversionIdentities", geomConversionIdentities);
|
||||
suite.AddTest("geomVerifyBasicProperties", geomVerifyBasicProperties);
|
||||
suite.AddTest("geomComparePoint2D", geomComparePoint2D);
|
||||
suite.AddTest("geomRotatePoint2D", geomRotatePoint2D);
|
||||
suite.AddTest("geomRotatePointsAboutOrigin", geomRotatePointsAboutOrigin);
|
||||
|
||||
if (ts.Run()) {
|
||||
std::cout << "OK" << std::endl;
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
auto r = ts.GetReport();
|
||||
std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
|
||||
return 1;
|
||||
}
|
||||
auto result = suite.Run();
|
||||
std::cout << suite << "\n";
|
||||
|
||||
return result ? 0 : 1;
|
||||
}
|
||||
|
|
|
|||
182
test/madgwick.cc
182
test/madgwick.cc
|
|
@ -15,23 +15,157 @@ using namespace scmp;
|
|||
|
||||
|
||||
bool
|
||||
SimpleAngularOrientation()
|
||||
SimpleAngularOrientationFloat()
|
||||
{
|
||||
filter::Madgwickd mf;
|
||||
geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
double delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
double twentyDegrees = scmp::DegreesToRadiansD(20.0);
|
||||
filter::Madgwickf mflt;
|
||||
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
|
||||
|
||||
// The paper specifies a minimum of 109 IMU readings to stabilize; for
|
||||
// two seconds, that means 218 updates.
|
||||
for (int i = 0; i < 218; i++) {
|
||||
mf.UpdateAngularOrientation(gyro, delta);
|
||||
mflt.UpdateAngularOrientation(gyro, delta);
|
||||
}
|
||||
|
||||
SCTEST_CHECK_EQ(mf.Orientation(), frame20Deg);
|
||||
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
||||
|
||||
auto euler = mf.Euler();
|
||||
auto euler = mflt.Euler();
|
||||
SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
|
||||
SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
|
||||
SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
SimpleAngularOrientationDouble()
|
||||
{
|
||||
filter::Madgwickd mflt;
|
||||
const geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
const double twentyDegrees = scmp::DegreesToRadiansD(20.0);
|
||||
|
||||
// The paper specifies a minimum of 109 IMU readings to stabilize; for
|
||||
// two seconds, that means 218 updates.
|
||||
for (int i = 0; i < 218; i++) {
|
||||
mflt.UpdateAngularOrientation(gyro, delta);
|
||||
}
|
||||
|
||||
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
||||
|
||||
auto euler = mflt.Euler();
|
||||
SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
|
||||
SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
|
||||
SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
SimpleAngularOrientation2InitialVector3f()
|
||||
{
|
||||
const geom::Vector3f initialFrame{0, 0, 0};
|
||||
filter::Madgwickf mflt(initialFrame);
|
||||
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
|
||||
|
||||
// The paper specifies a minimum of 109 IMU readings to stabilize; for
|
||||
// two seconds, that means 218 updates.
|
||||
for (int i = 0; i < 218; i++) {
|
||||
mflt.UpdateAngularOrientation(gyro, delta);
|
||||
}
|
||||
|
||||
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
||||
|
||||
auto euler = mflt.Euler();
|
||||
SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
|
||||
SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
|
||||
SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
SimpleAngularOrientation2InitialQuaternionf()
|
||||
{
|
||||
const auto initialFrame = geom::quaternionf_from_euler({0, 0, 0});
|
||||
filter::Madgwickf mflt(initialFrame);
|
||||
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
|
||||
|
||||
// The paper specifies a minimum of 109 IMU readings to stabilize; for
|
||||
// two seconds, that means 218 updates.
|
||||
for (int i = 0; i < 218; i++) {
|
||||
mflt.UpdateAngularOrientation(gyro, delta);
|
||||
}
|
||||
|
||||
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
||||
|
||||
auto euler = mflt.Euler();
|
||||
SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
|
||||
SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
|
||||
SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
SimpleAngularOrientation2InitialVector3d()
|
||||
{
|
||||
const geom::Vector3d initialFrame{0, 0, 0};
|
||||
filter::Madgwickd mflt(initialFrame);
|
||||
const geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
const double twentyDegrees = scmp::DegreesToRadiansD(20.0);
|
||||
|
||||
// The paper specifies a minimum of 109 IMU readings to stabilize; for
|
||||
// two seconds, that means 218 updates.
|
||||
for (int i = 0; i < 218; i++) {
|
||||
mflt.UpdateAngularOrientation(gyro, delta);
|
||||
}
|
||||
|
||||
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
||||
|
||||
auto euler = mflt.Euler();
|
||||
SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
|
||||
SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
|
||||
SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool
|
||||
SimpleAngularOrientation2InitialQuaterniond()
|
||||
{
|
||||
const auto initialFrame = geom::quaterniond_from_euler({0, 0, 0});
|
||||
filter::Madgwickd mflt(initialFrame);
|
||||
const geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
|
||||
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
|
||||
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
|
||||
const double twentyDegrees = scmp::DegreesToRadiansD(20.0);
|
||||
|
||||
// The paper specifies a minimum of 109 IMU readings to stabilize; for
|
||||
// two seconds, that means 218 updates.
|
||||
for (int i = 0; i < 218; i++) {
|
||||
mflt.UpdateAngularOrientation(gyro, delta);
|
||||
}
|
||||
|
||||
SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
|
||||
|
||||
auto euler = mflt.Euler();
|
||||
SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
|
||||
SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
|
||||
SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
|
||||
|
|
@ -43,21 +177,27 @@ SimpleAngularOrientation()
|
|||
int
|
||||
main(int argc, char **argv)
|
||||
{
|
||||
(void)argc;
|
||||
(void)argv;
|
||||
|
||||
sctest::SimpleSuite suite;
|
||||
|
||||
suite.AddTest("SimpleAngularOrientation", SimpleAngularOrientation);
|
||||
suite.AddTest("SimpleAngularOrientationDouble",
|
||||
SimpleAngularOrientationFloat);
|
||||
suite.AddTest("SimpleAngularOrientationDouble",
|
||||
SimpleAngularOrientationDouble);
|
||||
suite.AddTest("SimpleAngularOrientationDouble (iniital vector3f)",
|
||||
SimpleAngularOrientation2InitialVector3f);
|
||||
suite.AddTest("SimpleAngularOrientationDouble (iniital vector3d)",
|
||||
SimpleAngularOrientation2InitialVector3d);
|
||||
suite.AddTest("SimpleAngularOrientationDouble (iniital quaternionf)",
|
||||
SimpleAngularOrientation2InitialQuaternionf);
|
||||
suite.AddTest("SimpleAngularOrientationDouble (iniital quaterniond)",
|
||||
SimpleAngularOrientation2InitialQuaterniond);
|
||||
|
||||
auto result = suite.Run();
|
||||
|
||||
if (suite.IsReportReady()) {
|
||||
auto report = suite.GetReport();
|
||||
std::cout << report.Failing << " / " << report.Total;
|
||||
std::cout << " tests failed.\n";
|
||||
}
|
||||
std::cout << suite.GetReport() << "\n";
|
||||
return result ? 0 : 1;
|
||||
|
||||
if (result) {
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,28 +1,36 @@
|
|||
#include <sctest/Checks.h>
|
||||
#include <sctest/SimpleSuite.h>
|
||||
#include <scsl/Flag.h>
|
||||
|
||||
#include <scmp/Math.h>
|
||||
#include <scmp/geom/Vector.h>
|
||||
#include <scmp/geom/Orientation.h>
|
||||
|
||||
#include <sctest/Checks.h>
|
||||
#include <sctest/SimpleSuite.h>
|
||||
|
||||
|
||||
using namespace std;
|
||||
using namespace scmp;
|
||||
using namespace sctest;
|
||||
|
||||
|
||||
static bool
|
||||
namespace {
|
||||
|
||||
|
||||
bool
|
||||
UnitConversions_RadiansToDegreesF()
|
||||
{
|
||||
for (int i = 0; i < 360; i++) {
|
||||
auto deg = static_cast<float>(i);
|
||||
SCTEST_CHECK_FEQ(scmp::RadiansToDegreesF(scmp::DegreesToRadiansF(deg)), deg);
|
||||
auto rads = scmp::DegreesToRadiansF(i);
|
||||
auto deg = scmp::RadiansToDegreesF(rads);
|
||||
|
||||
SCTEST_CHECK_FEQ(deg, static_cast<float>(i));
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
static bool
|
||||
bool
|
||||
UnitConversions_RadiansToDegreesD()
|
||||
{
|
||||
for (int i = 0; i < 360; i++) {
|
||||
|
|
@ -34,10 +42,10 @@ UnitConversions_RadiansToDegreesD()
|
|||
}
|
||||
|
||||
|
||||
static bool
|
||||
bool
|
||||
Orientation2f_Heading()
|
||||
{
|
||||
geom::Vector2f a {2.0, 2.0};
|
||||
geom::Vector2f a{2.0, 2.0};
|
||||
|
||||
SCTEST_CHECK_FEQ(geom::Heading2f(a), scmp::DegreesToRadiansF(45));
|
||||
|
||||
|
|
@ -45,10 +53,10 @@ Orientation2f_Heading()
|
|||
}
|
||||
|
||||
|
||||
static bool
|
||||
bool
|
||||
Orientation3f_Heading()
|
||||
{
|
||||
geom::Vector3f a {2.0, 2.0, 2.0};
|
||||
geom::Vector3f a{2.0, 2.0, 2.0};
|
||||
|
||||
SCTEST_CHECK_FEQ(geom::Heading3f(a), scmp::DegreesToRadiansF(45));
|
||||
|
||||
|
|
@ -56,43 +64,56 @@ Orientation3f_Heading()
|
|||
}
|
||||
|
||||
|
||||
static bool
|
||||
bool
|
||||
Orientation2d_Heading()
|
||||
{
|
||||
geom::Vector2d a {2.0, 2.0};
|
||||
geom::Vector2d a{2.0, 2.0};
|
||||
|
||||
return scmp::WithinTolerance(geom::Heading2d(a), scmp::DegreesToRadiansD(45), 0.000001);
|
||||
}
|
||||
|
||||
|
||||
static bool
|
||||
bool
|
||||
Orientation3d_Heading()
|
||||
{
|
||||
geom::Vector3d a {2.0, 2.0, 2.0};
|
||||
geom::Vector3d a{2.0, 2.0, 2.0};
|
||||
|
||||
return scmp::WithinTolerance(geom::Heading3d(a), scmp::DegreesToRadiansD(45), 0.000001);
|
||||
}
|
||||
|
||||
|
||||
} // anonymous namespace
|
||||
|
||||
|
||||
int
|
||||
main(void)
|
||||
main(int argc, char *argv[])
|
||||
{
|
||||
SimpleSuite ts;
|
||||
auto quiet = false;
|
||||
auto flags = new scsl::Flags("test_orientation",
|
||||
"This test validates various orientation-related components in scmp.");
|
||||
flags->Register("-q", false, "suppress test output");
|
||||
|
||||
ts.AddTest("UnitConversions_RadiansToDegreesF", UnitConversions_RadiansToDegreesF);
|
||||
ts.AddTest("UnitConversions_RadiansToDegreesD", UnitConversions_RadiansToDegreesD);
|
||||
ts.AddTest("Orientation2f_Heading", Orientation2f_Heading);
|
||||
ts.AddTest("Orientation3f_Heading", Orientation3f_Heading);
|
||||
ts.AddTest("Orientation2d_Heading", Orientation2d_Heading);
|
||||
ts.AddTest("Orientation3d_Heading", Orientation3d_Heading);
|
||||
auto parsed = flags->Parse(argc, argv);
|
||||
if (parsed != scsl::Flags::ParseStatus::OK) {
|
||||
std::cerr << "Failed to parse flags: "
|
||||
<< scsl::Flags::ParseStatusToString(parsed) << "\n";
|
||||
}
|
||||
|
||||
if (ts.Run()) {
|
||||
std::cout << "OK" << std::endl;
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
auto r = ts.GetReport();
|
||||
std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
|
||||
return 1;
|
||||
SimpleSuite suite;
|
||||
flags->GetBool("-q", quiet);
|
||||
if (quiet) {
|
||||
suite.Silence();
|
||||
}
|
||||
|
||||
suite.AddTest("UnitConversions_RadiansToDegreesF", UnitConversions_RadiansToDegreesF);
|
||||
suite.AddTest("UnitConversions_RadiansToDegreesD", UnitConversions_RadiansToDegreesD);
|
||||
suite.AddTest("Orientation2f_Heading", Orientation2f_Heading);
|
||||
suite.AddTest("Orientation3f_Heading", Orientation3f_Heading);
|
||||
suite.AddTest("Orientation2d_Heading", Orientation2d_Heading);
|
||||
suite.AddTest("Orientation3d_Heading", Orientation3d_Heading);
|
||||
|
||||
delete flags;
|
||||
auto result = suite.Run();
|
||||
std::cout << suite.GetReport() << "\n";
|
||||
return result ? 0 : 1;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -429,49 +429,43 @@ QuaternionMiscellanous_InitializerConstructor()
|
|||
int
|
||||
main(void)
|
||||
{
|
||||
SimpleSuite ts;
|
||||
SimpleSuite suite;
|
||||
|
||||
ts.AddTest("Quaternion_SelfTest", Quaternion_SelfTest);
|
||||
ts.AddTest("QuaternionMiscellanous_InitializerConstructor",
|
||||
suite.AddTest("Quaternion_SelfTest", Quaternion_SelfTest);
|
||||
suite.AddTest("QuaternionMiscellanous_InitializerConstructor",
|
||||
QuaternionMiscellanous_InitializerConstructor);
|
||||
ts.AddTest("QuaternionMiscellaneous_SanityChecks",
|
||||
suite.AddTest("QuaternionMiscellaneous_SanityChecks",
|
||||
QuaternionMiscellaneous_SanityChecks);
|
||||
ts.AddTest("QuaternionMiscellaneous_OutputStream",
|
||||
suite.AddTest("QuaternionMiscellaneous_OutputStream",
|
||||
QuaternionMiscellaneous_OutputStream);
|
||||
|
||||
ts.AddTest("Quaterniond_Addition", Quaterniond_Addition);
|
||||
ts.AddTest("Quaterniond_Conjugate", Quaterniond_Conjugate);
|
||||
ts.AddTest("Quaterniond_Euler", Quaterniond_Euler);
|
||||
ts.AddTest("Quaterniond_Identity", Quaterniond_Identity);
|
||||
ts.AddTest("Quaterniond_Inverse", Quaterniond_Inverse);
|
||||
ts.AddTest("Quaterniond_Norm", Quaterniond_Norm);
|
||||
ts.AddTest("Quaterniond_Product", Quaterniond_Product);
|
||||
ts.AddTest("Quaterniond_Rotate", Quaterniond_Rotate);
|
||||
ts.AddTest("Quaterniond_ShortestSLERP", Quaterniond_ShortestSLERP);
|
||||
ts.AddTest("Quaterniond_ShortestSLERP2", Quaterniond_ShortestSLERP2);
|
||||
ts.AddTest("Quaterniond_Unit", Quaterniond_Unit);
|
||||
ts.AddTest("Quaterniond_UtilityCreator", Quaterniond_UtilityCreator);
|
||||
suite.AddTest("Quaterniond_Addition", Quaterniond_Addition);
|
||||
suite.AddTest("Quaterniond_Conjugate", Quaterniond_Conjugate);
|
||||
suite.AddTest("Quaterniond_Euler", Quaterniond_Euler);
|
||||
suite.AddTest("Quaterniond_Identity", Quaterniond_Identity);
|
||||
suite.AddTest("Quaterniond_Inverse", Quaterniond_Inverse);
|
||||
suite.AddTest("Quaterniond_Norm", Quaterniond_Norm);
|
||||
suite.AddTest("Quaterniond_Product", Quaterniond_Product);
|
||||
suite.AddTest("Quaterniond_Rotate", Quaterniond_Rotate);
|
||||
suite.AddTest("Quaterniond_ShortestSLERP", Quaterniond_ShortestSLERP);
|
||||
suite.AddTest("Quaterniond_ShortestSLERP2", Quaterniond_ShortestSLERP2);
|
||||
suite.AddTest("Quaterniond_Unit", Quaterniond_Unit);
|
||||
suite.AddTest("Quaterniond_UtilityCreator", Quaterniond_UtilityCreator);
|
||||
|
||||
ts.AddTest("Quaternionf_Addition", Quaternionf_Addition);
|
||||
ts.AddTest("Quaternionf_Conjugate", Quaternionf_Conjugate);
|
||||
ts.AddTest("Quaternionf_Euler", Quaternionf_Euler);
|
||||
ts.AddTest("Quaternionf_Identity", Quaternionf_Identity);
|
||||
ts.AddTest("Quaternionf_Inverse", Quaternionf_Inverse);
|
||||
ts.AddTest("Quaternionf_Norm", Quaternionf_Norm);
|
||||
ts.AddTest("Quaternionf_Product", Quaternionf_Product);
|
||||
ts.AddTest("Quaternionf_Rotate", Quaternionf_Rotate);
|
||||
ts.AddTest("Quaternionf_ShortestSLERP", Quaternionf_ShortestSLERP);
|
||||
ts.AddTest("Quaternionf_ShortestSLERP2", Quaternionf_ShortestSLERP2);
|
||||
ts.AddTest("Quaternionf_Unit", Quaternionf_Unit);
|
||||
ts.AddTest("Quaternionf_UtilityCreator", Quaternionf_UtilityCreator);
|
||||
suite.AddTest("Quaternionf_Addition", Quaternionf_Addition);
|
||||
suite.AddTest("Quaternionf_Conjugate", Quaternionf_Conjugate);
|
||||
suite.AddTest("Quaternionf_Euler", Quaternionf_Euler);
|
||||
suite.AddTest("Quaternionf_Identity", Quaternionf_Identity);
|
||||
suite.AddTest("Quaternionf_Inverse", Quaternionf_Inverse);
|
||||
suite.AddTest("Quaternionf_Norm", Quaternionf_Norm);
|
||||
suite.AddTest("Quaternionf_Product", Quaternionf_Product);
|
||||
suite.AddTest("Quaternionf_Rotate", Quaternionf_Rotate);
|
||||
suite.AddTest("Quaternionf_ShortestSLERP", Quaternionf_ShortestSLERP);
|
||||
suite.AddTest("Quaternionf_ShortestSLERP2", Quaternionf_ShortestSLERP2);
|
||||
suite.AddTest("Quaternionf_Unit", Quaternionf_Unit);
|
||||
suite.AddTest("Quaternionf_UtilityCreator", Quaternionf_UtilityCreator);
|
||||
|
||||
if (ts.Run()) {
|
||||
std::cout << "OK" << std::endl;
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
auto r = ts.GetReport();
|
||||
std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
|
||||
return 1;
|
||||
}
|
||||
auto result = suite.Run();
|
||||
std::cout << suite.GetReport() << "\n";
|
||||
return result ? 0 : 1;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,30 +1,33 @@
|
|||
//
|
||||
// Project: scccl
|
||||
// File: test/math/simple_suite_example.cpp
|
||||
// Author: Kyle Isom
|
||||
// Date: 2017-06-05
|
||||
//
|
||||
// simple_suite_example demonstrates the usage of the SimpleSuite test class
|
||||
// and serves to unit test the unit tester (qui custodiet ipsos custodes)?
|
||||
//
|
||||
// Copyright 2017 Kyle Isom <kyle@imap.cc>
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
///
|
||||
/// \file test/simple_suite_example.cc
|
||||
/// \author K. Isom <kyle@imap.cc>
|
||||
/// \date 2017-06-05
|
||||
///
|
||||
/// simple_suite_example demonstrates the usage of the SimpleSuite test class
|
||||
/// and serves to unit test the unit tester (qui custodiet ipsos custodes)?
|
||||
///
|
||||
///
|
||||
/// Copyright 2017 K. Isom <kyle@imap.cc>
|
||||
///
|
||||
/// Permission to use, copy, modify, and/or distribute this software for
|
||||
/// any purpose with or without fee is hereby granted, provided that the
|
||||
/// above copyright notice and this permission notice appear in all copies.
|
||||
///
|
||||
/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
|
||||
/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
|
||||
/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR
|
||||
/// BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES
|
||||
/// OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,
|
||||
/// WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,
|
||||
/// ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS
|
||||
/// SOFTWARE.
|
||||
///
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include <sctest/SimpleSuite.h>
|
||||
|
||||
|
||||
static bool
|
||||
prepareTests()
|
||||
{
|
||||
|
|
@ -33,6 +36,7 @@ prepareTests()
|
|||
return true;
|
||||
}
|
||||
|
||||
|
||||
static bool
|
||||
destroyTests()
|
||||
{
|
||||
|
|
@ -41,6 +45,7 @@ destroyTests()
|
|||
return true;
|
||||
}
|
||||
|
||||
|
||||
static bool addOne() { return 1 + 1 == 2; }
|
||||
static bool four() { return 2 + 2 == 4; }
|
||||
static bool nope() { return 2 + 2 == 5; }
|
||||
|
|
@ -49,24 +54,14 @@ static bool nope() { return 2 + 2 == 5; }
|
|||
int
|
||||
main()
|
||||
{
|
||||
sctest::SimpleSuite TestSuite;
|
||||
TestSuite.Setup(prepareTests);
|
||||
TestSuite.Teardown(destroyTests);
|
||||
TestSuite.AddTest("1 + 1", addOne);
|
||||
TestSuite.AddTest("fourness", four);
|
||||
TestSuite.AddFailingTest("self-evident truth", nope);
|
||||
sctest::SimpleSuite suite;
|
||||
suite.Setup(prepareTests);
|
||||
suite.Teardown(destroyTests);
|
||||
suite.AddTest("1 + 1", addOne);
|
||||
suite.AddTest("fourness", four);
|
||||
suite.AddFailingTest("self-evident truth", nope);
|
||||
auto result = suite.Run();
|
||||
|
||||
bool result = TestSuite.Run();
|
||||
if (TestSuite.IsReportReady()) {
|
||||
auto report = TestSuite.GetReport();
|
||||
std::cout << report.Failing << " / " << report.Total;
|
||||
std::cout << " tests failed.\n";
|
||||
}
|
||||
|
||||
if (result) {
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
return 1;
|
||||
}
|
||||
std::cout << suite.GetReport() << "\n";
|
||||
return result ? 0 : 1;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
///
|
||||
/// \file stringutil_test.cc
|
||||
/// \file test/stringutil_test.cc
|
||||
/// \author kyle
|
||||
/// \date 10/14/23
|
||||
/// \brief Ensure the stringutil functions work.
|
||||
|
|
@ -21,17 +21,21 @@
|
|||
///
|
||||
|
||||
|
||||
#include <functional>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
|
||||
#include <scsl/StringUtil.h>
|
||||
#include <sctest/Assert.h>
|
||||
#include <sctest/SimpleSuite.h>
|
||||
|
||||
|
||||
using namespace scsl;
|
||||
|
||||
|
||||
static void
|
||||
namespace {
|
||||
|
||||
|
||||
void
|
||||
TestTrimming(std::string line, std::string lExpected, std::string rExpected, std::string expected)
|
||||
{
|
||||
std::string result;
|
||||
|
|
@ -66,42 +70,17 @@ TestTrimming(std::string line, std::string lExpected, std::string rExpected, std
|
|||
}
|
||||
|
||||
|
||||
static std::string
|
||||
vec2string(std::vector<std::string> v)
|
||||
{
|
||||
std::stringstream ss;
|
||||
|
||||
ss << "(";
|
||||
ss << v.size();
|
||||
ss << ")";
|
||||
ss << "{";
|
||||
|
||||
for (size_t i = 0; i < v.size(); i++) {
|
||||
if (i > 0) { ss << ", "; }
|
||||
ss << v[i];
|
||||
}
|
||||
|
||||
ss << "}";
|
||||
return ss.str();
|
||||
}
|
||||
|
||||
|
||||
static void
|
||||
std::function<bool()>
|
||||
TestSplit(std::string line, std::string delim, size_t maxCount, std::vector<std::string> expected)
|
||||
{
|
||||
std::cout << "test split\n";
|
||||
std::cout << "\t line: \"" << line << "\"\n";
|
||||
std::cout << "\t delim: \"" << delim << "\"\n";
|
||||
std::cout << "\t count: " << maxCount << "\n";
|
||||
std::cout << "\texpect: " << vec2string(expected) << "\n";
|
||||
auto result = U::S::SplitN(line, delim, maxCount);
|
||||
std::cout << "\tresult: " << U::S::VectorToString(result) << "\n";
|
||||
sctest::Assert(result == expected, U::S::VectorToString(result));
|
||||
std::cout << "OK!\n";
|
||||
return [line, delim, maxCount, expected]() {
|
||||
return U::S::SplitN(line, delim, maxCount) == expected;
|
||||
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
static void
|
||||
bool
|
||||
TestWrapping()
|
||||
{
|
||||
std::string testLine = "A much longer line, something that can be tested with WrapText. ";
|
||||
|
|
@ -119,34 +98,52 @@ TestWrapping()
|
|||
};
|
||||
|
||||
auto wrapped = U::S::WrapText(testLine, 16);
|
||||
sctest::Assert(wrapped.size() == expected.size(),
|
||||
U::S::VectorToString(wrapped) + " != " + U::S::VectorToString(expected));
|
||||
if (wrapped.size() != expected.size()) {
|
||||
std::cerr << U::S::VectorToString(wrapped)
|
||||
<< " != "
|
||||
<< U::S::VectorToString(expected)
|
||||
<< "\n";
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < wrapped.size(); i++) {
|
||||
sctest::Assert(wrapped[i] == expected[i],
|
||||
"\"" + wrapped[i] + "\" != \"" + expected[i] + "\"");
|
||||
if (wrapped[i] == expected[i]) {
|
||||
continue;
|
||||
}
|
||||
|
||||
std::cerr << "[" << i << "] \"" << wrapped[i] << "\" != \""
|
||||
<< expected[i] << "\"\n";
|
||||
return false;
|
||||
}
|
||||
|
||||
U::S::WriteTabIndented(std::cout, wrapped, 4, true);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
} // anonymous namespace
|
||||
|
||||
|
||||
int
|
||||
main()
|
||||
{
|
||||
sctest::SimpleSuite suite;
|
||||
|
||||
TestTrimming(" foo\t ", "foo\t ", " foo", "foo");
|
||||
TestTrimming(" foo\tbar ", "foo\tbar ", " foo\tbar", "foo\tbar");
|
||||
|
||||
TestSplit("abc:def:ghij:klm", ":", 0,
|
||||
std::vector<std::string>{"abc", "def", "ghij", "klm"});
|
||||
TestSplit("abc:def:ghij:klm", ":", 3,
|
||||
std::vector<std::string>{"abc", "def", "ghij:klm"});
|
||||
TestSplit("abc:def:ghij:klm", ":", 2,
|
||||
std::vector<std::string>{"abc", "def:ghij:klm"});
|
||||
TestSplit("abc:def:ghij:klm", ":", 1,
|
||||
std::vector<std::string>{"abc:def:ghij:klm"});
|
||||
suite.AddTest("SplitN(0)", TestSplit("abc:def:ghij:klm", ":", 0,
|
||||
std::vector<std::string>{"abc", "def", "ghij", "klm"}));
|
||||
suite.AddTest("SplitN(3)", TestSplit("abc:def:ghij:klm", ":", 3,
|
||||
std::vector<std::string>{"abc", "def", "ghij:klm"}));
|
||||
suite.AddTest("SplitN(2)", TestSplit("abc:def:ghij:klm", ":", 2,
|
||||
std::vector<std::string>{"abc", "def:ghij:klm"}));
|
||||
suite.AddTest("SplitN(1)", TestSplit("abc:def:ghij:klm", ":", 1,
|
||||
std::vector<std::string>{"abc:def:ghij:klm"}));
|
||||
suite.AddTest("SplitN(0) with empty element",
|
||||
TestSplit("abc::def:ghi", ":", 0,
|
||||
std::vector<std::string>{"abc", "", "def", "ghi"});
|
||||
|
||||
TestWrapping();
|
||||
std::vector<std::string>{"abc", "", "def", "ghi"}));
|
||||
suite.AddTest("TextWrapping", TestWrapping);
|
||||
auto result = suite.Run();
|
||||
std::cout << suite.GetReport() << "\n";
|
||||
return result ? 0 : 1;
|
||||
}
|
||||
|
|
@ -428,71 +428,65 @@ Vector3DoubleTests_CrossProduct()
|
|||
|
||||
|
||||
int
|
||||
main(void)
|
||||
main()
|
||||
{
|
||||
SimpleSuite ts;
|
||||
ts.AddTest("Vector3Miscellaneous_ExtractionOperator3d",
|
||||
SimpleSuite suite;
|
||||
suite.AddTest("Vector3Miscellaneous_ExtractionOperator3d",
|
||||
Vector3Miscellaneous_ExtractionOperator3d);
|
||||
ts.AddTest("Vector3Miscellaneous_ExtractionOperator3f",
|
||||
suite.AddTest("Vector3Miscellaneous_ExtractionOperator3f",
|
||||
Vector3Miscellaneous_ExtractionOperator3f);
|
||||
ts.AddTest("Vector3Miscellaneous_SetEpsilon",
|
||||
suite.AddTest("Vector3Miscellaneous_SetEpsilon",
|
||||
Vector3Miscellaneous_SetEpsilon);
|
||||
ts.AddTest("Vector3FloatTests_Magnitude",
|
||||
suite.AddTest("Vector3FloatTests_Magnitude",
|
||||
Vector3FloatTests_Magnitude);
|
||||
ts.AddTest("Vector3FloatTests_Equality",
|
||||
suite.AddTest("Vector3FloatTests_Equality",
|
||||
Vector3FloatTests_Equality);
|
||||
ts.AddTest("Vector3FloatTests_Addition",
|
||||
suite.AddTest("Vector3FloatTests_Addition",
|
||||
Vector3FloatTests_Addition);
|
||||
ts.AddTest("Vector3FloatTests_Subtraction",
|
||||
suite.AddTest("Vector3FloatTests_Subtraction",
|
||||
Vector3FloatTests_Subtraction);
|
||||
ts.AddTest("Vector3FloatTests_ScalarMultiplication",
|
||||
suite.AddTest("Vector3FloatTests_ScalarMultiplication",
|
||||
Vector3FloatTests_ScalarMultiplication);
|
||||
ts.AddTest("Vector3FloatTests_ScalarDivision",
|
||||
suite.AddTest("Vector3FloatTests_ScalarDivision",
|
||||
Vector3FloatTests_ScalarDivision);
|
||||
ts.AddTest("Vector3FloatTests_DotProduct",
|
||||
suite.AddTest("Vector3FloatTests_DotProduct",
|
||||
Vector3FloatTests_DotProduct);
|
||||
ts.AddTest("Vector3FloatTests_UnitVector",
|
||||
suite.AddTest("Vector3FloatTests_UnitVector",
|
||||
Vector3FloatTests_UnitVector);
|
||||
ts.AddTest("Vector3FloatTests_Angle",
|
||||
suite.AddTest("Vector3FloatTests_Angle",
|
||||
Vector3FloatTests_Angle);
|
||||
ts.AddTest("Vector3FloatTests_ParallelOrthogonalVectors",
|
||||
suite.AddTest("Vector3FloatTests_ParallelOrthogonalVectors",
|
||||
Vector3FloatTests_ParallelOrthogonalVectors);
|
||||
ts.AddTest("Vector3FloatTests_Projections",
|
||||
suite.AddTest("Vector3FloatTests_Projections",
|
||||
Vector3FloatTests_Projections);
|
||||
ts.AddTest("Vector3FloatTests_CrossProduct",
|
||||
suite.AddTest("Vector3FloatTests_CrossProduct",
|
||||
Vector3FloatTests_CrossProduct);
|
||||
ts.AddTest("Vector3DoubleTests_Magnitude",
|
||||
suite.AddTest("Vector3DoubleTests_Magnitude",
|
||||
Vector3DoubleTests_Magnitude);
|
||||
ts.AddTest("Vector3DoubleTests_Equality",
|
||||
suite.AddTest("Vector3DoubleTests_Equality",
|
||||
Vector3DoubleTests_Equality);
|
||||
ts.AddTest("Vector3DoubleTests_Addition",
|
||||
suite.AddTest("Vector3DoubleTests_Addition",
|
||||
Vector3DoubleTests_Addition);
|
||||
ts.AddTest("Vector3DoubleTests_Subtraction",
|
||||
suite.AddTest("Vector3DoubleTests_Subtraction",
|
||||
Vector3DoubleTests_Subtraction);
|
||||
ts.AddTest("Vector3DoubleTests_ScalarMultiplication",
|
||||
suite.AddTest("Vector3DoubleTests_ScalarMultiplication",
|
||||
Vector3DoubleTests_ScalarMultiplication);
|
||||
ts.AddTest("Vector3DoubleTests_ScalarDivision",
|
||||
suite.AddTest("Vector3DoubleTests_ScalarDivision",
|
||||
Vector3DoubleTests_ScalarDivision);
|
||||
ts.AddTest("Vector3DoubleTests_DotProduct",
|
||||
suite.AddTest("Vector3DoubleTests_DotProduct",
|
||||
Vector3DoubleTests_DotProduct);
|
||||
ts.AddTest("Vector3DoubleTests_UnitVector",
|
||||
suite.AddTest("Vector3DoubleTests_UnitVector",
|
||||
Vector3DoubleTests_UnitVector);
|
||||
ts.AddTest("Vector3DoubleTests_Angle",
|
||||
suite.AddTest("Vector3DoubleTests_Angle",
|
||||
Vector3DoubleTests_Angle);
|
||||
ts.AddTest("Vector3DoubleTests_ParallelOrthogonalVectors",
|
||||
suite.AddTest("Vector3DoubleTests_ParallelOrthogonalVectors",
|
||||
Vector3DoubleTests_ParallelOrthogonalVectors);
|
||||
ts.AddTest("Vector3DoubleTests_Projections",
|
||||
suite.AddTest("Vector3DoubleTests_Projections",
|
||||
Vector3DoubleTests_Projections);
|
||||
ts.AddTest("Vector3DoubleTests_CrossProduct",
|
||||
suite.AddTest("Vector3DoubleTests_CrossProduct",
|
||||
Vector3DoubleTests_CrossProduct);
|
||||
auto result = suite.Run();
|
||||
|
||||
if (ts.Run()) {
|
||||
std::cout << "OK" << std::endl;
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
auto r = ts.GetReport();
|
||||
std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
|
||||
return 1;
|
||||
}
|
||||
std::cout << suite.GetReport() << "\n";
|
||||
return result ? 0 : 1;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue