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Tests: add unit tests for Matrix4D and Rotation

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This commit is contained in:
wmayer
2023-02-22 15:24:09 +01:00
committed by wwmayer
parent aa788af4bd
commit 3a589cba11
3 changed files with 190 additions and 0 deletions
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tests/src/Base/Rotation.cpp Normal file
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#include "gtest/gtest.h"
#include <Base/Matrix.h>
#include <Base/Rotation.h>
TEST(Rotation, TestNonUniformScaleLeft)
{
Base::Rotation rot;
rot.setYawPitchRoll(20.0, 0.0, 0.0);
Base::Matrix4D mat;
rot.getValue(mat);
Base::Matrix4D scale;
scale.scale(2.0, 3.0, 4.0);
Base::Rotation scaled_rot(scale * mat);
EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true);
EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true);
}
TEST(Rotation, TestNonUniformScaleRight)
{
Base::Rotation rot;
rot.setYawPitchRoll(20.0, 0.0, 0.0);
Base::Matrix4D mat;
rot.getValue(mat);
Base::Matrix4D scale;
scale.scale(2.0, 3.0, 4.0);
Base::Rotation scaled_rot(mat * scale);
EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true);
EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true);
}
TEST(Rotation, TestUniformScaleGT1)
{
Base::Rotation rot;
rot.setYawPitchRoll(20.0, 0.0, 0.0);
Base::Matrix4D mat;
rot.getValue(mat);
Base::Matrix4D scale;
scale.scale(3.0, 3.0, 3.0);
Base::Rotation scaled_rot(mat * scale);
EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true);
EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true);
}
TEST(Rotation, TestUniformScaleLT1)
{
Base::Matrix4D mat;
mat.scale(0.5);
Base::Rotation scaled_rot(mat);
EXPECT_EQ(scaled_rot.isSame(scaled_rot, 1.0e-7), true);
}