1 files changed, 29 insertions, 0 deletions
diff --git a/zephyr/test/math/src/vector.c b/zephyr/test/math/src/vector.c
new file mode 100644
index 0000000000..2e8ca52c5d
--- /dev/null
+++ b/zephyr/test/math/src/vector.c
@@ -0,0 +1,29 @@
+/* Copyright 2022 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+#include <ztest.h>
+
+#include "math.h"
+#include "math_util.h"
+
+ZTEST_USER(math, cosine_of_angle_diff__zero_magnitude_vector)
+{
+	intv3_t v0 = { 0, 0, 0 };
+	intv3_t v1 = { 1, 1, 1 };
+
+	zassert_equal(cosine_of_angle_diff(v0, v1), 0, NULL);
+	zassert_equal(cosine_of_angle_diff(v1, v0), 0, NULL);
+}
+
+ZTEST_USER(math, rotate_inv__null_matrix)
+{
+	intv3_t v = { 1, 2, 3 };
+	intv3_t r = { 4, 5, 6 };
+
+	rotate_inv(v, NULL, r);
+	zassert_equal(v[0], r[0], NULL);
+	zassert_equal(v[1], r[1], NULL);
+	zassert_equal(v[2], r[2], NULL);
+}