orientation_euler_angles_fusion_algorithm_using_quaternion_unittest.cc 3.3 KB

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  1. // Copyright 2017 The Chromium Authors. All rights reserved.
  2. // Use of this source code is governed by a BSD-style license that can be
  3. // found in the LICENSE file.
  4. #include "services/device/generic_sensor/orientation_euler_angles_fusion_algorithm_using_quaternion.h"
  5. #include "base/memory/raw_ptr.h"
  6. #include "base/memory/ref_counted.h"
  7. #include "base/test/task_environment.h"
  8. #include "services/device/generic_sensor/fake_platform_sensor_fusion.h"
  9. #include "services/device/generic_sensor/generic_sensor_consts.h"
  10. #include "services/device/generic_sensor/orientation_test_data.h"
  11. #include "testing/gtest/include/gtest/gtest.h"
  12. namespace device {
  13. class OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest
  14. : public testing::Test {
  15. public:
  16. OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest() {
  17. auto fusion_algorithm =
  18. std::make_unique<OrientationEulerAnglesFusionAlgorithmUsingQuaternion>(
  19. true /* absolute */);
  20. fusion_algorithm_ = fusion_algorithm.get();
  21. fake_fusion_sensor_ = base::MakeRefCounted<FakePlatformSensorFusion>(
  22. std::move(fusion_algorithm));
  23. fusion_algorithm_->set_fusion_sensor(fake_fusion_sensor_.get());
  24. }
  25. protected:
  26. base::test::TaskEnvironment task_environment_;
  27. scoped_refptr<FakePlatformSensorFusion> fake_fusion_sensor_;
  28. raw_ptr<OrientationEulerAnglesFusionAlgorithmUsingQuaternion>
  29. fusion_algorithm_;
  30. };
  31. TEST_F(OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest,
  32. ReadSourceSensorFailed) {
  33. ASSERT_EQ(1UL, fusion_algorithm_->source_types().size());
  34. mojom::SensorType source_type = fusion_algorithm_->source_types()[0];
  35. SensorReading reading;
  36. SensorReading fused_reading;
  37. fake_fusion_sensor_->SetSensorReading(source_type, reading,
  38. false /* sensor_reading_success */);
  39. EXPECT_FALSE(fusion_algorithm_->GetFusedData(source_type, &fused_reading));
  40. }
  41. TEST_F(OrientationEulerAnglesFusionAlgorithmUsingQuaternionTest,
  42. CheckSampleValues) {
  43. ASSERT_EQ(quaternions_test_values.size(),
  44. euler_angles_in_degrees_test_values.size());
  45. ASSERT_EQ(1UL, fusion_algorithm_->source_types().size());
  46. mojom::SensorType source_type = fusion_algorithm_->source_types()[0];
  47. SensorReading reading;
  48. SensorReading fused_reading;
  49. for (size_t i = 0; i < quaternions_test_values.size(); ++i) {
  50. reading.orientation_quat.x = quaternions_test_values[i][0];
  51. reading.orientation_quat.y = quaternions_test_values[i][1];
  52. reading.orientation_quat.z = quaternions_test_values[i][2];
  53. reading.orientation_quat.w = quaternions_test_values[i][3];
  54. fake_fusion_sensor_->SetSensorReading(source_type, reading,
  55. true /* sensor_reading_success */);
  56. EXPECT_TRUE(fusion_algorithm_->GetFusedData(source_type, &fused_reading));
  57. EXPECT_NEAR(euler_angles_in_degrees_test_values[i][0],
  58. fused_reading.orientation_euler.z /* alpha */, kEpsilon)
  59. << "on test value " << i;
  60. EXPECT_NEAR(euler_angles_in_degrees_test_values[i][1],
  61. fused_reading.orientation_euler.x /* beta */, kEpsilon)
  62. << "on test value " << i;
  63. EXPECT_NEAR(euler_angles_in_degrees_test_values[i][2],
  64. fused_reading.orientation_euler.y /* gamma */, kEpsilon)
  65. << "on test value " << i;
  66. }
  67. }
  68. } // namespace device