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Tests: add some more unit tests for Matrix class

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This commit is contained in:
wmayer
2023-08-29 15:13:07 +02:00
committed by wwmayer
parent 4f6ab508d7
commit d567b859d3
1 changed files with 79 additions and 0 deletions
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79
tests/src/Base/Matrix.cpp
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@@ -264,5 +264,84 @@ TEST(Matrix, TestSubAssign)
0.0, 0.0, 0.0, 0.0};
EXPECT_EQ(mat1, mat4);
}
TEST(Matrix, TestHatOperator)
{
Base::Vector3d vec{1.0, 2.0, 3.0};
Base::Matrix4D mat1;
mat1.Hat(vec);
Base::Matrix4D mat2{0.0, -vec.z, vec.y, 0.0,
vec.z, 0.0, -vec.x, 0.0,
-vec.y, vec.x, 0.0, 0.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestDyadic)
{
Base::Vector3d vec{1.0, 2.0, 3.0};
Base::Matrix4D mat1;
mat1.Outer(vec, vec);
Base::Matrix4D mat2{1.0, 2.0, 3.0, 0.0,
2.0, 4.0, 6.0, 0.0,
3.0, 6.0, 9.0, 0.0,
0.0, 0.0, 0.0, 1.0};
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestRotLine)
{
Base::Vector3d axis{1.0, 2.0, 3.0};
double angle = 1.2345;
Base::Matrix4D mat1;
Base::Matrix4D mat2;
mat1.rotLine(axis, angle);
Base::Rotation rot(axis, angle);
rot.getValue(mat2);
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestRotAxisFormula) //NOLINT
{
// R = I + sin(alpha)*P + (1-cos(alpha))*P^2
// with P = hat operator of a vector
Base::Vector3d axis{1.0, 2.0, 3.0};
double angle = 1.2345;
Base::Matrix4D mat1;
Base::Matrix4D mat2;
mat1.rotLine(axis, angle);
double fsin = std::sin(angle);
double fcos = std::cos(angle);
Base::Matrix4D unit;
Base::Matrix4D hat;
Base::Matrix4D hat2;
axis.Normalize();
hat.Hat(axis);
hat2 = hat * hat;
mat2 = unit + hat * fsin + hat2 * (1 - fcos);
EXPECT_DOUBLE_EQ(mat1[0][0], mat2[0][0]);
EXPECT_DOUBLE_EQ(mat1[0][1], mat2[0][1]);
EXPECT_DOUBLE_EQ(mat1[0][2], mat2[0][2]);
EXPECT_DOUBLE_EQ(mat1[1][0], mat2[1][0]);
EXPECT_DOUBLE_EQ(mat1[1][1], mat2[1][1]);
EXPECT_DOUBLE_EQ(mat1[1][2], mat2[1][2]);
EXPECT_DOUBLE_EQ(mat1[2][0], mat2[2][0]);
EXPECT_DOUBLE_EQ(mat1[2][1], mat2[2][1]);
EXPECT_DOUBLE_EQ(mat1[2][2], mat2[2][2]);
}
// clang-format on
// NOLINTEND(cppcoreguidelines-*,readability-magic-numbers)