From c9165f418d42357294bd5eb82084b5751b9b3073 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Fri, 15 Feb 2019 11:22:19 +0100
Subject: [PATCH] Style fix
---
.../tests/VirtualRobotMathToolsTest.cpp | 40 ++++++++++---------
1 file changed, 21 insertions(+), 19 deletions(-)
diff --git a/VirtualRobot/tests/VirtualRobotMathToolsTest.cpp b/VirtualRobot/tests/VirtualRobotMathToolsTest.cpp
index 2067a0044..c2542b7c0 100644
--- a/VirtualRobot/tests/VirtualRobotMathToolsTest.cpp
+++ b/VirtualRobot/tests/VirtualRobotMathToolsTest.cpp
@@ -11,6 +11,8 @@
#include <VirtualRobot/VirtualRobotException.h>
#include <string>
+#define M_PIf (static_cast<float>(M_PI))
+
BOOST_AUTO_TEST_SUITE(MathTools)
@@ -18,20 +20,20 @@ BOOST_AUTO_TEST_SUITE(MathTools)
{
Eigen::Matrix4f m = Eigen::Matrix4f::Identity();
const int NR_TESTS = 10000;
- for (int i=0;i<NR_TESTS;i++)
+ for (int i = 0; i < NR_TESTS; i++)
{
Eigen::Vector3f ax = Eigen::Vector3f::Random();
ax.normalize();
- float ang = float(rand() % 1000 / 1000.0f * 2.0f*M_PI -M_PI);
+ float ang = rand() % 1000 / 1000.0f * 2.0f * M_PIf - M_PIf;
Eigen::Matrix3f m3 = Eigen::AngleAxisf(ang, ax).matrix();
m.block(0, 0, 3, 3) = m3;
VirtualRobot::MathTools::Quaternion q = VirtualRobot::MathTools::eigen4f2quat(m);
Eigen::Vector3f h = VirtualRobot::MathTools::quat2hopf(q);
- BOOST_CHECK_LE(h(0), 2.0f*(float)M_PI);
- BOOST_CHECK_LE(h(1), 2.0f*(float)M_PI);
- BOOST_CHECK_LE(h(2), (float)M_PI*0.5f);
+ BOOST_CHECK_LE(h(0), 2.0f*M_PIf);
+ BOOST_CHECK_LE(h(1), 2.0f*M_PIf);
+ BOOST_CHECK_LE(h(2), M_PIf*0.5f);
BOOST_CHECK_GE(h(0), 0.0f);
BOOST_CHECK_GE(h(1), 0.0f);
@@ -40,9 +42,9 @@ BOOST_AUTO_TEST_SUITE(MathTools)
VirtualRobot::MathTools::Quaternion q2 = VirtualRobot::MathTools::hopf2quat(h);
VirtualRobot::MathTools::Quaternion qDelta = VirtualRobot::MathTools::getDelta(q, q2);
- float a = (float)fabs(VirtualRobot::MathTools::getAngle(qDelta));
+ float a = std::abs(VirtualRobot::MathTools::getAngle(qDelta));
BOOST_CHECK_SMALL(a, 0.01f);
- if (a>0.01)
+ if (a > 0.01f)
{
std::cout << "H:" << h.transpose() << ", Q:" << q.w << ", " << q.x << "," << q.y << "," << q.z << " / Q2:" << q2.w << ", " << q2.x << "," << q2.y << "," << q2.z << std::endl;
}
@@ -55,12 +57,12 @@ BOOST_AUTO_TEST_SUITE(MathTools)
Eigen::Matrix4f m = Eigen::Matrix4f::Identity();
const int NR_TESTS = 50000;
const float maxAngHopf = 0.01f;
- const float maxAngQuat = 2.5f*maxAngHopf;
- for (int i = 0; i<NR_TESTS; i++)
+ const float maxAngQuat = 2.5f * maxAngHopf;
+ for (int i = 0; i < NR_TESTS; i++)
{
Eigen::Vector3f ax = Eigen::Vector3f::Random();
ax.normalize();
- float ang = float(rand() % 1000 / 1000.0f * 2.0f*M_PI - M_PI);
+ float ang = rand() % 1000 / 1000.0f * 2.0f * M_PIf - M_PIf;
Eigen::Matrix3f m3 = Eigen::AngleAxisf(ang, ax).matrix();
m.block(0, 0, 3, 3) = m3;
VirtualRobot::MathTools::Quaternion q = VirtualRobot::MathTools::eigen4f2quat(m);
@@ -75,19 +77,19 @@ BOOST_AUTO_TEST_SUITE(MathTools)
if (h(0) < 0)
continue;
//h(0) = float(2.0f*M_PI) - h(0);
- if (h(0) > float(2.0f*M_PI))
+ if (h(0) > 2.0f * M_PIf)
continue;
//h(0) = h(0) - float(2.0f*M_PI);
if (h(1) < 0)
continue;
//h(1) = float(2.0f*M_PI) - h(1);
- if (h(1) > float(2.0f*M_PI))
+ if (h(1) > 2.0f * M_PIf)
continue;
//h(1) = h(1) - float(2.0f*M_PI);
if (h(2) < 0)
continue;
//h(2) = float(M_PI*0.5f) - h(2);
- if (h(2) > float(M_PI*0.5f))
+ if (h(2) > M_PIf * 0.5f)
continue;
//h(2) = h(2) - float(M_PI*0.5f);
@@ -95,14 +97,14 @@ BOOST_AUTO_TEST_SUITE(MathTools)
BOOST_CHECK_GE(h(0), 0.0f);
BOOST_CHECK_GE(h(1), 0.0f);
BOOST_CHECK_GE(h(2), 0.0f);
- BOOST_CHECK_LE(h(0), 2.0f*(float)M_PI);
- BOOST_CHECK_LE(h(1), 2.0f*(float)M_PI);
- BOOST_CHECK_LE(h(2), (float)M_PI*0.5f);
+ BOOST_CHECK_LE(h(0), 2.0f * M_PIf);
+ BOOST_CHECK_LE(h(1), 2.0f * M_PIf);
+ BOOST_CHECK_LE(h(2), M_PIf * 0.5f);
VirtualRobot::MathTools::Quaternion q2 = VirtualRobot::MathTools::hopf2quat(h);
VirtualRobot::MathTools::Quaternion qDelta = VirtualRobot::MathTools::getDelta(q, q2);
- float a = (float)fabs(VirtualRobot::MathTools::getAngle(qDelta));
+ float a = std::abs(VirtualRobot::MathTools::getAngle(qDelta));
BOOST_CHECK_SMALL(a, maxAngQuat);
if (a>maxAngQuat)
@@ -116,9 +118,9 @@ BOOST_AUTO_TEST_SUITE(MathTools)
BOOST_AUTO_TEST_CASE(testMathToolsRPY)
{
- float r = (float)M_PI * 0.25f;
+ float r = M_PIf * 0.25f;
float p = 0;
- float y = (float)M_PI * 0.5f;
+ float y = M_PIf * 0.5f;
Eigen::Matrix4f m;
BOOST_REQUIRE_NO_THROW(VirtualRobot::MathTools::rpy2eigen4f(r, p, y, m));
float x[6];
--
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