130 lines
3.5 KiB
C
130 lines
3.5 KiB
C
#include "./versor_combine.h"
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#include <math.h>
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#include "./../../helpers.h"
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typedef struct {
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BgcVersorFP32 first, second, result;
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} _TestVersorTripletFP32;
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typedef struct {
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BgcVersorFP64 first, second, result;
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} _TestVersorTripletFP64;
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// ==================== FP32 ==================== //
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static const int _TEST_FP32_VERSOR_TRIPLET_AMOUNT = 5;
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static const _TestVersorTripletFP32 _TEST_FP32_VERSOR_TRIPLET_LIST[] = {
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{
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{ 1.0f, 0.0f, 0.0f, 0.0f },
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{ 1.0f, 0.0f, 0.0f, 0.0f },
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{ 1.0f, 0.0f, 0.0f, 0.0f }
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},
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{
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{ 1.0f, 0.0f, 0.0f, 0.0f },
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{ -1.0f, 0.0f, 0.0f, 0.0f },
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{ -1.0f, 0.0f, 0.0f, 0.0f }
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},
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{
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{ 0.182574185835f, 0.36514837167f, 0.54772255751f, 0.73029674334f },
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{ 1.0f, 0.0f, 0.0f, 0.0f },
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{ 0.182574185835f, 0.36514837167f, 0.54772255751f, 0.73029674334f }
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},
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{
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{ 1.0f, 0.0f, 0.0f, 0.0f },
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{ 0.182574185835f, 0.36514837167f, 0.54772255751f, 0.73029674334f },
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{ 0.182574185835f, 0.36514837167f, 0.54772255751f, 0.73029674334f }
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},
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{
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{ 0.7071067812f, 0.7071067812f, 0.0f, 0.0f },
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{ 0.7071067812f, 0.0f, 0.0f, 0.7071067812f },
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{ 0.5f, 0.5f, 0.5f, 0.5f }
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}
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};
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int test_versor_combine_fp32()
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{
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BgcVersorFP32 versor;
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print_testing_name("bgc_versor_combine_fp32");
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for (int i = 0; i < _TEST_FP32_VERSOR_TRIPLET_AMOUNT; i++) {
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bgc_versor_combine_fp32(&_TEST_FP32_VERSOR_TRIPLET_LIST[i].second, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].first, &versor);
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if (!bgc_versor_are_close_fp32(&versor, &_TEST_FP32_VERSOR_TRIPLET_LIST[i].result)) {
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print_testing_failed();
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return TEST_FAILED;
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}
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}
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print_testing_success();
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return TEST_SUCCES;
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}
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// ==================== FP64 ==================== //
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static const int _TEST_FP64_VERSOR_TRIPLET_AMOUNT = 5;
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static const _TestVersorTripletFP64 _TEST_FP64_VERSOR_TRIPLET_LIST[] = {
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{
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{ 1.0, 0.0, 0.0, 0.0 },
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{ 1.0, 0.0, 0.0, 0.0 },
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{ 1.0, 0.0, 0.0, 0.0 }
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},
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{
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{ 1.0, 0.0, 0.0, 0.0 },
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{ -1.0, 0.0, 0.0, 0.0 },
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{ -1.0, 0.0, 0.0, 0.0 }
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},
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{
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{ 0.1825741858350553712, 0.3651483716701107423, 0.5477225575051661135, 0.7302967433402214846 },
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{ 1.0, 0.0, 0.0, 0.0 },
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{ 0.1825741858350553712, 0.3651483716701107423, 0.5477225575051661135, 0.7302967433402214846 }
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},
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{
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{ 1.0, 0.0, 0.0, 0.0 },
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{ 0.1825741858350553712, 0.3651483716701107423, 0.5477225575051661135, 0.7302967433402214846 },
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{ 0.1825741858350553712, 0.3651483716701107423, 0.5477225575051661135, 0.7302967433402214846 }
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},
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{
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{ 0.7071067811865475, 0.7071067811865475, 0.0, 0.0 },
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{ 0.7071067811865475, 0.0, 0.0, 0.7071067811865475 },
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{ 0.5, 0.5, 0.5, 0.5 }
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}
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};
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int test_versor_combine_fp64()
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{
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BgcVersorFP64 versor;
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print_testing_name("bgc_versor_combine_fp64");
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for (int i = 0; i < _TEST_FP64_VERSOR_TRIPLET_AMOUNT; i++) {
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bgc_versor_combine_fp64(&_TEST_FP64_VERSOR_TRIPLET_LIST[i].second, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].first, &versor);
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if (!bgc_versor_are_close_fp64(&versor, &_TEST_FP64_VERSOR_TRIPLET_LIST[i].result)) {
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print_testing_failed();
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return TEST_FAILED;
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}
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}
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print_testing_success();
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return TEST_SUCCES;
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}
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int test_versor_combine()
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{
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if (test_versor_combine_fp32() != TEST_SUCCES) {
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return TEST_FAILED;
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}
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if (test_versor_combine_fp64() != TEST_SUCCES) {
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return TEST_FAILED;
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}
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return TEST_SUCCES;
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}
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