From bed724fe33b2dc903b89f8f8517738370c751cd1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 7 Apr 2010 23:51:28 +0200 Subject: digital/avr/modules/math/geometry: add new module --- .../avr/modules/math/geometry/test/test_geometry.c | 151 +++++++++++++++++++++ 1 file changed, 151 insertions(+) create mode 100644 digital/avr/modules/math/geometry/test/test_geometry.c (limited to 'digital/avr/modules/math/geometry/test/test_geometry.c') diff --git a/digital/avr/modules/math/geometry/test/test_geometry.c b/digital/avr/modules/math/geometry/test/test_geometry.c new file mode 100644 index 00000000..59d1f854 --- /dev/null +++ b/digital/avr/modules/math/geometry/test/test_geometry.c @@ -0,0 +1,151 @@ +/* test_geometry.c */ +/* avr.math.geometry - Geometry math module. {{{ + * + * Copyright (C) 2010 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "modules/math/geometry/geometry.h" +#include "modules/math/geometry/vect.h" + +#include "modules/utils/utils.h" +#include "modules/uart/uart.h" + +#ifdef HOST +#define test assert +#else +#define test(p) \ + do { \ + const char *pp; \ + for (pp = #p; *pp; pp++) \ + uart0_putc (*pp); \ + uart0_putc ('\n'); \ + if (!(p)) while (1); \ + } while (0); +#endif + +void +test_geometry (void) +{ + test (G_ANGLE_UF016_DEG (0) == 0); + test (G_ANGLE_UF016_DEG (45) == 0x2000); + test (G_ANGLE_UF016_DEG (90) == 0x4000); + test (G_ANGLE_UF016_DEG (135) == 0x6000); + test (G_ANGLE_UF016_DEG (180) == 0x8000); + test (G_ANGLE_UF016_DEG (225) == 0xa000); + test (G_ANGLE_UF016_DEG (270) == 0xc000); + test (G_ANGLE_UF016_DEG (315) == 0xe000); + test (G_ANGLE_UF016_DEG (360) == 0x0000); + test (G_ANGLE_UF016_DEG (-45) == 0xe000); + test (G_ANGLE_UF016_DEG (-90) == 0xc000); + test (G_ANGLE_UF016_DEG (-135) == 0xa000); + test (G_ANGLE_UF016_DEG (-180) == 0x8000); + test (G_ANGLE_UF016_DEG (-225) == 0x6000); + test (G_ANGLE_UF016_DEG (-270) == 0x4000); + test (G_ANGLE_UF016_DEG (-315) == 0x2000); + test (G_ANGLE_UF016_DEG (-360) == 0x0000); + test (G_ANGLE_UF016_RAD (0) == 0); + test (G_ANGLE_UF016_RAD (M_PI / 4) == 0x2000); + test (G_ANGLE_UF016_RAD (M_PI / 2) == 0x4000); + test (G_ANGLE_UF016_RAD (M_PI) == 0x8000); + test (G_ANGLE_UF016_RAD (3 * M_PI / 2) == 0xc000); + test (G_ANGLE_UF016_RAD (2 * M_PI) == 0x0000); + test (G_ANGLE_UF016_RAD (-M_PI / 4) == 0xe000); + test (G_ANGLE_UF016_RAD (-M_PI / 2) == 0xc000); + test (G_ANGLE_UF016_RAD (-M_PI) == 0x8000); + test (G_ANGLE_UF016_RAD (-3 * M_PI / 2) == 0x4000); + test (G_ANGLE_UF016_RAD (-2 * M_PI) == 0x0000); +} + +void +test_vect (void) +{ + int i; + int16_t n; + vect_t a, b; + /* vect_*. */ + a.x = 50; a.y = 0; + b.x = 500; b.y = 500; + vect_scale_f824 (&a, 0x2000000); + vect_scale_f824 (&b, -0x2000000); + test (a.x == 100 && a.y == 0); + test (b.x == -1000 && b.y == -1000); + for (i = 0; i < 6; i++) + vect_rotate_uf016 (&a, G_ANGLE_UF016_DEG (30)); + /* There is inevitable rounding errors. */ + test (a.x >= -101 && a.x <= -99 && a.y >= -1 && a.y <= 1); + for (i = 0; i < 4; i++) + vect_rotate_uf016 (&b, G_ANGLE_UF016_DEG (45)); + test (b.x == 1000 && b.y == 1000); + a.x = 2; a.y = 4; + b.x = 8; b.y = 16; + vect_translate (&a, &b); + test (a.x == 10 && a.y == 20); + vect_sub (&a, &b); + test (a.x == 2 && a.y == 4); + /* vect_norm. */ + a.x = 100; a.y = 0; + n = vect_norm (&a); + test (n == 100); + a.y = 100; + n = vect_norm (&a); + test (n == 141); + a.x = 0; + n = vect_norm (&a); + test (n == 100); + /* vect_from_polar_uf016. */ + vect_from_polar_uf016 (&a, 141, G_ANGLE_UF016_DEG (0)); + test (a.x == 141 && a.y == 0); + vect_from_polar_uf016 (&a, 141, G_ANGLE_UF016_DEG (45)); + test (a.x == 100 && a.y == 100); + vect_from_polar_uf016 (&a, 141, G_ANGLE_UF016_DEG (90)); + test (a.x == 0 && a.y == 141); + vect_from_polar_uf016 (&a, 141, G_ANGLE_UF016_DEG (180)); + test (a.x == -141 && a.y == 0); + /* vect_array_*. */ + vect_t c[4] = + { + { 282, 0 }, + { 200, 200 }, + { 0, 282 }, + { -200, 200 }, + }; + vect_array_rotate_uf016 (c, UTILS_COUNT (c), G_ANGLE_UF016_DEG (135)); + vect_array_scale_f824 (c, UTILS_COUNT (c), 0x400000); + a.x = 60; a.y = 20; + vect_array_translate (c, UTILS_COUNT (c), &a); + test (c[0].x == -50 + 60 && c[0].y == 50 + 20); + test (c[1].x == -70 + 60 && c[1].y == 0 + 20); + test (c[2].x == -50 + 60 && c[2].y == -50 + 20); + test (c[3].x == 0 + 60 && c[3].y == -70 + 20); +} + +int +main (void) +{ + uart0_init (); + test_geometry (); + test_vect (); + uart0_putc ('o'); + uart0_putc ('k'); + uart0_putc ('\n'); + return 0; +} -- cgit v1.2.3