Skip to content
Snippets Groups Projects
GeoTest.cc 2.21 KiB
Newer Older
  • Learn to ignore specific revisions
  • /****************************************************************************
     *
     *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
     *
     * QGroundControl is licensed according to the terms in the file
     * COPYING.md in the root of the source code directory.
     *
     ****************************************************************************/
    
    
    
    /// @file
    ///     @brief Unit test fpr QGCGeo coordinate project math.
    ///
    ///     @author David Goodman <dagoodma@gmail.com>
    
    #include "GeoTest.h"
    #include "QGCGeo.h"
    
    /*
    GeoTest::GeoTest(void)
    {
    
    }
    */
    
    
    void GeoTest::_convertGeoToNed_test(void)
    
    {
        QGeoCoordinate coord(47.364869, 8.594398, 0.0);
    
        double expectedX = -1281.152128182419801305514;
        double expectedY = 3486.949719522415307437768;
        double expectedZ = 0;
    
        double x, y, z;
    
        convertGeoToNed(coord, _origin, &x, &y, &z);
    
    
        QCOMPARE(x, expectedX);
        QCOMPARE(y, expectedY);
        QCOMPARE(z, expectedZ);
    }
    
    
    void GeoTest::_convertGeoToNedAtOrigin_test(void)
    
    {
        QGeoCoordinate coord(_origin);
        coord.setAltitude(10.0); // offset altitude to test z
    
        double expectedX = 0.0;
        double expectedY = 0.0;
    
        double expectedZ = -10.0;
    
        convertGeoToNed(coord, _origin, &x, &y, &z);
    
    
        QCOMPARE(x, expectedX);
        QCOMPARE(y, expectedY);
        QCOMPARE(z, expectedZ);
    }
    
    
    void GeoTest::_convertNedToGeo_test(void)
    
    {
        double x = -1281.152128182419801305514;
        double y = 3486.949719522415307437768;
        double z = 0;
    
        double expectedLat = 47.364869;
        double expectedLon = 8.594398;
        double expectedAlt = 0.0;
    
        QGeoCoordinate coord;
    
        convertNedToGeo(x, y, z, _origin, &coord);
    
    
        QCOMPARE(coord.latitude(), expectedLat);
        QCOMPARE(coord.longitude(), expectedLon);
        QCOMPARE(coord.altitude(), expectedAlt);
    }
    
    
    void GeoTest::_convertNedToGeoAtOrigin_test(void)
    
    {
        double x = 0.0;
        double y = 0.0;
        double z = 0.0;
    
        double expectedLat = _origin.latitude();
        double expectedLon = _origin.longitude();
        double expectedAlt = _origin.altitude();
    
        QGeoCoordinate coord;
    
        convertNedToGeo(x, y, z, _origin, &coord);
    
    
        QCOMPARE(coord.latitude(), expectedLat);
        QCOMPARE(coord.longitude(), expectedLon);
        QCOMPARE(coord.altitude(), expectedAlt);
    }