matrix_test.go

package utils

import (
	"fmt"
	"sort"
	"testing"

	"go.viam.com/test"
	"gonum.org/v1/gonum/mat"
)

func TestRotateMatrixAbout(t *testing.T) {
	var m mat.Dense
	vec2M := (*Vec2Matrix)(&m)
	rot := vec2M.RotateMatrixAbout(0, 0, 45)
	test.That(t, rot, test.ShouldEqual, vec2M)
}

func TestDistanceMSETo(t *testing.T) {
	data := []float64{
		0.6046602879796196,
		0.6645600532184904,
		0.4246374970712657,
		0.06563701921747622,
		0.09696951891448456,
		0.5152126285020654,
		0.21426387258237492,
		0.31805817433032985,
		0.28303415118044517,
		0.6790846759202163,
		0.20318687664732285,
		0.5706732760710226,
		0.29311424455385804,
		0.7525730355516119,
		0.865335013001561,
		0.5238203060500009,
		0.15832827774512764,
		0.9752416188605784,
		0.5948085976830626,
		0.692024587353112,
		0.17326623818270528,
		0.544155573000885,
		0.4231522015718281,
		0.2535405005150605,
		0.7886049150193449,
		0.8805431227416171,
		0.8943617293304537,
		0.9769168685862624,
		0.22228941700678773,
		0.24151508854715265,
		0.932846428518434,
		0.8010550426526613,
		0.18292491645390843,
		0.8969919575618727,
		0.9789293555766876,
		0.09083727535388708,
		0.9269868035744142,
		0.3479539636282229,
		0.7109071952999951,
		0.6494894605929404,
		0.7558235074915978,
		0.13065111702897217,
		0.8963417453962161,
		0.7211477651926741,
		0.08552050754191123,
		0.6227283173637045,
		0.2368225468054852,
		0.18724610140105305,
		0.6280981712183633,
		0.28133029380535923,
		0.43491247389145765,
		0.5501469205077233,
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		0.6039781022829275,
		0.02967128127488647,
		0.0028430411748625642,
		0.5898341850049194,
		0.8154051709333606,
		0.4584424785756506,
		0.02626515060968944,
		0.24969320116349378,
		0.24746660783662855,
		0.5926237532124455,
		0.6938381365172095,
		0.539210105890946,
		0.7507630564795985,
		0.7531612777367586,
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	}
	left := mat.NewDense(3, 360, data)
	leftVec2 := (*Vec2Matrix)(left)
	dist := leftVec2.DistanceMSETo(leftVec2)
	test.That(t, dist, test.ShouldEqual, 0)

	rot := leftVec2.RotateMatrixAbout(0, 0, 0)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 0)

	rot = leftVec2.RotateMatrixAbout(0, 0, 45)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 0.7560178601305556)

	rot = leftVec2.RotateMatrixAbout(0, 0, 70)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 0.7633847913096043)

	rot = leftVec2.RotateMatrixAbout(0, 0, 90)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 0.7657411445029718)

	rot = leftVec2.RotateMatrixAbout(0, 0, 270)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 1.207983341766853)

	rot = leftVec2.RotateMatrixAbout(0, 0, 360)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 0)

	rot = leftVec2.RotateMatrixAbout(1, 1, 45)
	dist = leftVec2.DistanceMSETo(rot)
	test.That(t, dist, test.ShouldEqual, 0.4622326374440451)
}

func TestSortVec2Fs(t *testing.T) {
	for i, tc := range []struct {
		values   Vec2Fs
		expected Vec2Fs
	}{
		{nil, nil},
		{Vec2Fs{}, Vec2Fs{}},
		{Vec2Fs{[]float64{0, 0}}, Vec2Fs{[]float64{0, 0}}},
		{Vec2Fs{[]float64{0, 0}, []float64{1, 0}}, Vec2Fs{[]float64{0, 0}, []float64{1, 0}}},
		{Vec2Fs{[]float64{1, 0}, []float64{0, 0}}, Vec2Fs{[]float64{0, 0}, []float64{1, 0}}},
		{Vec2Fs{[]float64{0, 0}, []float64{1, 2}, []float64{1, 0}}, Vec2Fs{[]float64{0, 0}, []float64{1, 0}, []float64{1, 2}}},
	} {
		t.Run(fmt.Sprintf("%d", i), func(t *testing.T) {
			sort.Sort(tc.values)
			test.That(t, tc.values, test.ShouldResemble, tc.expected)
		})
	}
}