From ee62d0296f7b5c71f9197f5e74d7897c52e94e07 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 26 Dec 2019 11:34:20 +0100 Subject: [PATCH] ControlMathTest: consistent short float literal notation --- .../PositionControl/ControlMathTest.cpp | 56 +++++++++---------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp index 64a997ccaab2..2623ba69f149 100644 --- a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp +++ b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp @@ -43,38 +43,38 @@ TEST(ControlMathTest, ThrottleAttitudeMapping) { /* expected: zero roll, zero pitch, zero yaw, full thr mag * reason: thrust pointing full upward */ - Vector3f thr{0.0f, 0.0f, -1.0f}; - float yaw = 0.0f; + Vector3f thr{0.f, 0.f, -1.f}; + float yaw = 0.f; vehicle_attitude_setpoint_s att{}; thrustToAttitude(thr, yaw, att); - EXPECT_FLOAT_EQ(att.roll_body, 0.0f); - EXPECT_FLOAT_EQ(att.pitch_body, 0.0f); - EXPECT_FLOAT_EQ(att.yaw_body, 0.0f); + EXPECT_FLOAT_EQ(att.roll_body, 0.f); + EXPECT_FLOAT_EQ(att.pitch_body, 0.f); + EXPECT_FLOAT_EQ(att.yaw_body, 0.f); EXPECT_FLOAT_EQ(att.thrust_body[2], -1.f); /* expected: same as before but with 90 yaw * reason: only yaw changed */ yaw = M_PI_2_F; thrustToAttitude(thr, yaw, att); - EXPECT_FLOAT_EQ(att.roll_body, 0.0f); - EXPECT_FLOAT_EQ(att.pitch_body, 0.0f); + EXPECT_FLOAT_EQ(att.roll_body, 0.f); + EXPECT_FLOAT_EQ(att.pitch_body, 0.f); EXPECT_FLOAT_EQ(att.yaw_body, M_PI_2_F); EXPECT_FLOAT_EQ(att.thrust_body[2], -1.f); /* expected: same as before but roll 180 * reason: thrust points straight down and order Euler * order is: 1. roll, 2. pitch, 3. yaw */ - thr = Vector3f(0.0f, 0.0f, 1.0f); + thr = Vector3f(0.f, 0.f, 1.f); thrustToAttitude(thr, yaw, att); EXPECT_FLOAT_EQ(att.roll_body, -M_PI_F); - EXPECT_FLOAT_EQ(att.pitch_body, 0.0f); + EXPECT_FLOAT_EQ(att.pitch_body, 0.f); EXPECT_FLOAT_EQ(att.yaw_body, M_PI_2_F); EXPECT_FLOAT_EQ(att.thrust_body[2], -1.f); } TEST(ControlMathTest, ConstrainXYPriorities) { - const float max = 5.0f; + const float max = 5.f; // v0 already at max Vector2f v0(max, 0); Vector2f v1(v0(1), -v0(0)); @@ -87,17 +87,17 @@ TEST(ControlMathTest, ConstrainXYPriorities) v0.zero(); v_r = constrainXY(v0, v1, max); EXPECT_FLOAT_EQ(v_r(1), -max); - EXPECT_FLOAT_EQ(v_r(0), 0.0f); + EXPECT_FLOAT_EQ(v_r(0), 0.f); - v0 = Vector2f(0.5f, 0.5f); - v1 = Vector2f(0.5f, -0.5f); + v0 = Vector2f(.5f, .5f); + v1 = Vector2f(.5f, -.5f); v_r = constrainXY(v0, v1, max); const float diff = Vector2f(v_r - (v0 + v1)).length(); - EXPECT_FLOAT_EQ(diff, 0.0f); + EXPECT_FLOAT_EQ(diff, 0.f); // v0 and v1 exceed max and are perpendicular - v0 = Vector2f(4.0f, 0.0f); - v1 = Vector2f(0.0f, -4.0f); + v0 = Vector2f(4.f, 0.f); + v1 = Vector2f(0.f, -4.f); v_r = constrainXY(v0, v1, max); EXPECT_FLOAT_EQ(v_r(0), v0(0)); EXPECT_GT(v_r(0), 0); @@ -127,53 +127,53 @@ TEST(ControlMathTest, CrossSphereLine) * * * On trajectory --+----o----1----+--------2/3---+-- */ - const Vector3f prev = Vector3f(0.0f, 0.0f, 0.0f); - const Vector3f curr = Vector3f(0.0f, 0.0f, 2.0f); + const Vector3f prev = Vector3f(0.f, 0.f, 0.f); + const Vector3f curr = Vector3f(0.f, 0.f, 2.f); Vector3f res; bool retval = false; // on line, near, before previous waypoint - retval = cross_sphere_line(Vector3f(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res); + retval = cross_sphere_line(Vector3f(0.f, 0.f, -.5f), 1.f, prev, curr, res); EXPECT_TRUE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 0.5f)); // on line, near, before target waypoint - retval = cross_sphere_line(Vector3f(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res); + retval = cross_sphere_line(Vector3f(0.f, 0.f, 1.f), 1.f, prev, curr, res); EXPECT_TRUE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f)); // on line, near, after target waypoint - retval = cross_sphere_line(Vector3f(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res); + retval = cross_sphere_line(Vector3f(0.f, 0.f, 2.5f), 1.f, prev, curr, res); EXPECT_TRUE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f)); // near, before previous waypoint - retval = cross_sphere_line(Vector3f(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res); + retval = cross_sphere_line(Vector3f(0.f, .5f, -.5f), 1.f, prev, curr, res); EXPECT_TRUE(retval); - EXPECT_EQ(res, Vector3f(0.f, 0.f, 0.366025388f)); + EXPECT_EQ(res, Vector3f(0.f, 0.f, .366025388f)); // near, before target waypoint - retval = cross_sphere_line(Vector3f(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res); + retval = cross_sphere_line(Vector3f(0.f, .5f, 1.f), 1.f, prev, curr, res); EXPECT_TRUE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 1.866025448f)); // near, after target waypoint - retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res); + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.f, .5f, 2.5f), 1.f, prev, curr, res); EXPECT_TRUE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f)); // far, before previous waypoint - retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res); + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.f, 2.f, -.5f), 1.f, prev, curr, res); EXPECT_FALSE(retval); EXPECT_EQ(res, Vector3f()); // far, before target waypoint - retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res); + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.f, 2.f, 1.f), 1.f, prev, curr, res); EXPECT_FALSE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 1.f)); // far, after target waypoint - retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res); + retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.f, 2.f, 2.5f), 1.f, prev, curr, res); EXPECT_FALSE(retval); EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f)); }