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/* Copyright 2014 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.
*
* Test motion sense code.
*/
#include <math.h>
#include <stdio.h>
#include "common.h"
#include "math_util.h"
#include "test_util.h"
#include "util.h"
/*****************************************************************************/
/* Test utilities */
/* Macro to compare two floats and check if they are equal within diff. */
#define IS_FLOAT_EQUAL(a, b, diff) ((a) >= ((b) - diff) && (a) <= ((b) + diff))
#define ACOS_TOLERANCE_DEG 0.5f
#define RAD_TO_DEG (180.0f / 3.1415926f)
static int test_acos(void)
{
float a, b;
float test;
/* Test a handful of values. */
for (test = -1.0; test <= 1.0; test += 0.01) {
a = FP_TO_FLOAT(arc_cos(FLOAT_TO_FP(test)));
b = acos(test) * RAD_TO_DEG;
TEST_ASSERT(IS_FLOAT_EQUAL(a, b, ACOS_TOLERANCE_DEG));
}
return EC_SUCCESS;
}
const mat33_fp_t test_matrices[] = {
{{ 0, FLOAT_TO_FP(-1), 0},
{FLOAT_TO_FP(-1), 0, 0},
{ 0, 0, FLOAT_TO_FP(1)} },
{{ FLOAT_TO_FP(1), 0, FLOAT_TO_FP(5)},
{ FLOAT_TO_FP(2), FLOAT_TO_FP(1), FLOAT_TO_FP(6)},
{ FLOAT_TO_FP(3), FLOAT_TO_FP(4), 0} }
};
static int test_rotate(void)
{
int i, j, k;
intv3_t v = {1, 2, 3};
intv3_t w;
for (i = 0; i < ARRAY_SIZE(test_matrices); i++) {
for (j = 0; j < 100; j += 10) {
for (k = X; k <= Z; k++) {
v[k] += j;
v[k] %= 7;
}
rotate(v, test_matrices[i], w);
rotate_inv(w, test_matrices[i], w);
for (k = X; k <= Z; k++)
TEST_ASSERT(v[k] == w[k]);
}
}
return EC_SUCCESS;
}
void run_test(void)
{
test_reset();
RUN_TEST(test_acos);
RUN_TEST(test_rotate);
test_print_result();
}
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