geo_test.cpp

Go to the documentation of this file.

/** \file geo_test.cpp
 */
#include "../../catch2/catch.hpp"
 
#include <Eigen/Dense>
 
#define MX_NO_ERROR_REPORTS
 
#include "../../../include/math/geo.hpp"
 
/** Verify compilation and calculations of math::angleMod.
  * Tests that various angle modulos are calculated correctly for both radians and degrees.
  * 
  * \anchor tests_math_geo_angleMod
  */
SCENARIO( "Verify compilation and calculations of math::angleMod", "[math::angleMod]" ) 
{
   GIVEN("angles in degrees")
   {
      WHEN("positive angle, no changes")
      {
         double q = mx::math::angleMod<mx::math::degreesT<double>>(43.2);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(43.2));
      }
 
      WHEN("positive angle, no changes")
      {
         double q = mx::math::angleMod<mx::math::degreesT<double>>(353.2);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(353.2));
      }
 
      WHEN("positive angle, exactly 360")
      {
         double q = mx::math::angleMod<mx::math::degreesT<double>>(360.0);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(0.0));
      }
 
      WHEN("positive angle, mod needed")
      {
         double q = mx::math::angleMod<mx::math::degreesT<double>>(362.0);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(2.0));
      }
   }
 
   GIVEN("angles in radians")
   {
      WHEN("positive angle, no changes")
      {
         double q = mx::math::angleMod<mx::math::radiansT<double>>(mx::math::dtor(43.2));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor(43.2)));
      }
 
      WHEN("positive angle, no changes")
      {
         double q = mx::math::angleMod<mx::math::radiansT<double>>(mx::math::dtor(353.2));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor(353.2)));
      }
 
      WHEN("positive angle, exactly 2pi")
      {
         double q = mx::math::angleMod<mx::math::radiansT<double>>(mx::math::dtor(360.0));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor(0.0)));
      }
 
      WHEN("positive angle, mod needed")
      {
         double q = mx::math::angleMod<mx::math::radiansT<double>>(mx::math::dtor(362.0));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor(2.0)));
      }
   }
}
 
/** Verify compilation and calculations of math::angleDiff.
  * Tests that various angle differences are calculated correctly for both radians and degrees.
  * 
  * \anchor tests_math_geo_angleDiff
  */
SCENARIO( "Verify compilation and calculations of math::angleDiff", "[math::angleDiff]" ) 
{
   GIVEN("angles in degrees")
   {
      WHEN("positive, first angle is 0, not crossing 180/360")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(0.0,43.2);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(43.2));
      }
 
      WHEN("negative, second angle is 0, not crossing 180/360")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(43.2,0.0);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(-43.2));
      }
 
      WHEN("positive, first angle is 360, not crossing 180/360")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(360.0,43.2);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(43.2));
      }
 
      WHEN("negative, second angle is 3600, not crossing 180/360")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(43.2,360.0);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(-43.2));
      }
 
      WHEN("positive, crossing 360")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(340.0,23.2);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(43.2));
      }
 
      WHEN("negative, crossing 180/360")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(23.2,340.0);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(-43.2));
      }
 
      WHEN("positive, crossing 180")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(160.0,206.2);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(46.2));
      }
 
      WHEN("negative, crossing 180")
      {
         double q = mx::math::angleDiff<mx::math::degreesT<double>>(206.2,160.0);
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(-46.2));
      }
   }
 
   GIVEN("angles in radians")
   {
      WHEN("positive, first angle is 0, not crossing pi/2pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(0.0),mx::math::dtor<double>(43.2));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(43.2)));
      }
 
      WHEN("negative, second angle is 0, not crossing pi/2pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(43.2),mx::math::dtor<double>(0.0));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(-43.2)));
      }
 
      WHEN("positive, first angle is 360, not crossing pi/2pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(360.0),mx::math::dtor<double>(43.2));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(43.2)));
      }
 
      WHEN("negative, second angle is 3600, not crossing pi/2pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(43.2),mx::math::dtor<double>(360.0));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(-43.2)));
      }
 
      WHEN("positive, crossing 2pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(340.0),mx::math::dtor<double>(23.2));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(43.2)));
      }
 
      WHEN("negative, crossing 2pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(23.2),mx::math::dtor<double>(340.0));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(-43.2)));
      }
 
      WHEN("positive, crossing pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(160.0),mx::math::dtor<double>(206.2));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(46.2)));
      }
 
      WHEN("negative, crossing pi")
      {
         double q = mx::math::angleDiff<mx::math::radiansT<double>>(mx::math::dtor<double>(206.2),mx::math::dtor<double>(160.0));
                  
         REQUIRE_THAT(q, Catch::Matchers::WithinRel(mx::math::dtor<double>(-46.2)));
      }
   }
}