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#include "math/QuaternionTestCase.hpp" |
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// Registers the fixture into the 'registry' |
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CPPUNIT_TEST_SUITE_REGISTRATION( QuaternionTestCase ); |
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void QuaternionTestCase::setUp(){ |
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q1[0] = 1.0; |
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q1[1] = 0.0; |
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q1[2] = 0.0; |
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q1[3] = 0.0; |
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|
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q2[0] = 0.0; |
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q2[1] = 0.6; |
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q2[2] = 0.0; |
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q2[3] = 0.8; |
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|
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q3[0] = 0.5; |
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q3[1] = 0.5; |
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q3[2] = 0.5; |
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q3[3] = 0.5; |
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|
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q4[0] = 0.0; |
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q4[1] = -0.6; |
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q4[2] = 0.0; |
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q4[3] = -0.8; |
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|
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} |
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void QuaternionTestCase::testConstructors(){ |
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Vec4 v; |
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v[0] = 0.0; |
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v[1] = 0.6; |
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v[2] = 0.0; |
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v[3] = 0.8; |
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|
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//construct from a vector |
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Quat4d tmp1(v); |
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|
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CPPUNIT_ASSERT(tmp1 == q2); |
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|
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//copy constructor |
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Quat4d tmp2(q1); |
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CPPUNIT_ASSERT(tmp2 == q1); |
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|
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//copy assignment |
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Quat4d tmp3; |
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tmp3 = q4; |
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CPPUNIT_ASSERT(tmp3 == q4); |
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|
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//construct from w, x, y, z |
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Quat4d tmp4(0.0, -0.6, 0.0, -0.8); |
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|
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CPPUNIT_ASSERT(tmp4 == q4); |
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|
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} |
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void QuaternionTestCase::testArithmetic(){ |
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Quat4d qd3(1, 1, 2, 1); |
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Quat4d qd4(1, 1, 1, 2); |
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|
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//test mul |
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Quat4d qda3L = qd3; |
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qda3L.mul(2.0); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,4,2) , qda3L ); |
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|
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Quat4d qda5R = 2.0 * qd4; |
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qda5R.div(qd4); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(2.0, 0.0, 0.0, 0.0) , qda5R ); |
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|
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} |
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void QuaternionTestCase::testOperators(){ |
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|
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Quat4d qd0(1, 1, 1, 1); |
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Quat4d qd1(2, 1, 1, 1); |
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Quat4d qd2(1, 2, 1, 1); |
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Quat4d qd3(1, 1, 2, 1); |
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Quat4d qd4(1, 1, 1, 2); |
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|
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Quat4d qda2Q = qd2 - qd0; |
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Quat4d qda3L = qd3 * 2.0; |
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Quat4d qda3R = 2.0 * qd3; |
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Quat4d qda3Q = qd3 * qd0; |
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Quat4d qda4L = qd4 / 2.0; |
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Quat4d qda4R = 2.0 / qd4; |
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Quat4d qda4Q = qd4 / qd0; |
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Quat4d qda5L = qda4L * 2.0; |
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Quat4d qda5R = qda4R * qd4; |
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Quat4d qda5Q = qda4Q * qd0; |
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|
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CPPUNIT_ASSERT_EQUAL( Quat4d(0,1,0,0) , qda2Q ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,4,2) , qda3L ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,4,2) , qda3R ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(-3,3,3,1) , qda3Q ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(0.5,0.5,0.5,1) , qda4L ); |
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//CPPUNIT_ASSERT_EQUAL( 2.0 * qd4.inverse() , qda4R ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(1.25,0.25,-0.25,0.25) , qda4Q ); |
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CPPUNIT_ASSERT_EQUAL( qd4 , qda5L ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(2.0, 0.0, 0.0, 0.0) , qda5R ); |
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CPPUNIT_ASSERT_EQUAL( qd4 , qda5Q ); |
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Quat4d quat0(1, 1, 1, 1); |
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Quat4d quat1a = quat0; |
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Quat4d quat1s = quat0; |
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Quat4d quat1p = quat0; |
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Quat4d quat1d = quat0; |
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quat1a += 2.0; |
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quat1s -= 2.0; |
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quat1p *= 2.0; |
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quat1d /= 2.0; |
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|
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CPPUNIT_ASSERT_EQUAL( Quat4d(3,1,1,1) , quat1a ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(-1,1,1,1) , quat1s ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,2,2) , quat1p ); |
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CPPUNIT_ASSERT_EQUAL( Quat4d(0.5,0.5,0.5,0.5) , quat1d ); |
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} |
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void QuaternionTestCase::testAccessEntries(){ |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(q1.w(), 1.0, oopse::epsilon); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(q2.x(), 0.6, oopse::epsilon); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(q3.y(), 0.5, oopse::epsilon); |
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CPPUNIT_ASSERT_DOUBLES_EQUAL(q4.z(), -0.8, oopse::epsilon); |
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Quat4d tmp; |
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tmp.w() = 0.0; |
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tmp.x() = -0.6; |
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tmp.y() = 0.0; |
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tmp.z() = -0.8; |
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CPPUNIT_ASSERT(tmp == q4); |
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} |
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void QuaternionTestCase::testOtherMemberFunctions(){ |
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//test inverse |
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CPPUNIT_ASSERT(q2.inverse() == q4); |
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//test conjugate |
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CPPUNIT_ASSERT(q2 == q4.conjugate()); |
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//test toRotationMatrix3 |
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SquareMatrix<double, 3> rotMat; |
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rotMat(0,0) = -0.28; |
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rotMat(0,1) = 0; |
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rotMat(0,2) = 0.96; |
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rotMat(1,0) = 0.0; |
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rotMat(1,1) = -1.0; |
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rotMat(1,2) = 0.0; |
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rotMat(2,0) = 0.96; |
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rotMat(2,1) = 0; |
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rotMat(2,2) = 0.28; |
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CPPUNIT_ASSERT(rotMat == q4.toRotationMatrix3()); |
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} |
