62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/common/math.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace common {
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namespace {
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TEST(MathTest, testPower) {
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EXPECT_EQ(0., Power(0, 42));
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EXPECT_EQ(1., Power(0, 0));
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EXPECT_EQ(1., Power(1, 0));
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EXPECT_EQ(1., Power(1, 42));
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EXPECT_EQ(4., Power(2, 2));
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}
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TEST(MathTest, testPow2) {
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EXPECT_EQ(0., Pow2(0));
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EXPECT_EQ(1., Pow2(1));
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EXPECT_EQ(4., Pow2(2));
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EXPECT_EQ(49., Pow2(7));
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}
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TEST(MathTest, testDeg2rad) {
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EXPECT_NEAR(M_PI, DegToRad(180.), 1e-9);
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EXPECT_NEAR(2. * M_PI, DegToRad(360. - 1e-9), 1e-6);
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}
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TEST(MathTest, testRad2deg) {
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EXPECT_NEAR(180., RadToDeg(M_PI), 1e-9);
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EXPECT_NEAR(360., RadToDeg(2. * M_PI - 1e-9), 1e-6);
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}
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TEST(MathTest, testNormalizeAngleDifference) {
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EXPECT_NEAR(0., NormalizeAngleDifference(0.), 1e-9);
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EXPECT_NEAR(M_PI, NormalizeAngleDifference(M_PI), 1e-9);
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EXPECT_NEAR(-M_PI, NormalizeAngleDifference(-M_PI), 1e-9);
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EXPECT_NEAR(0., NormalizeAngleDifference(2. * M_PI), 1e-9);
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EXPECT_NEAR(M_PI, NormalizeAngleDifference(5. * M_PI), 1e-9);
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EXPECT_NEAR(-M_PI, NormalizeAngleDifference(-5. * M_PI), 1e-9);
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}
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} // namespace
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} // namespace common
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} // namespace cartographer
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