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root/group/trunk/OOPSE-3.0/test/math/QuaternionTestCase.cpp
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Comparing trunk/OOPSE-3.0/test/math/QuaternionTestCase.cpp (file contents):
Revision 1593 by tim, Mon Oct 18 21:03:15 2004 UTC vs.
Revision 1603 by tim, Tue Oct 19 21:28:55 2004 UTC

# Line 5 | Line 5 | void QuaternionTestCase::setUp(){
5  
6  
7   void QuaternionTestCase::setUp(){
8 < }
8 >    q1[0] = 1.0;
9 >    q1[1] = 0.0;
10 >    q1[2] = 0.0;
11 >    q1[3] = 0.0;
12  
13 < void QuaternionTestCase::tearDown(){
13 >    q2[0] = 0.0;
14 >    q2[1] = 0.6;
15 >    q2[2] = 0.0;
16 >    q2[3] = 0.8;
17 >
18 >    q3[0] = 0.5;
19 >    q3[1] = 0.5;
20 >    q3[2] = 0.5;
21 >    q3[3] = 0.5;
22 >
23 >    q4[0] = 0.0;
24 >    q4[1] = -0.6;
25 >    q4[2] = 0.0;
26 >    q4[3] = -0.8;
27 >        
28   }
29  
30   void QuaternionTestCase::testConstructors(){
31 +    Vec4 v;
32 +    v[0] = 0.0;
33 +    v[1] = 0.6;
34 +    v[2] = 0.0;
35 +    v[3] = 0.8;
36 +
37 +    //construct from a vector
38 +    Quat4d tmp1(v);
39 +
40 +    CPPUNIT_ASSERT(tmp1 == q2);
41 +
42 +    //copy constructor
43 +    Quat4d tmp2(q1);
44 +    CPPUNIT_ASSERT(tmp2 == q1);
45 +
46 +    //copy assignment
47 +    Quat4d tmp3;
48 +    tmp3 = q4;
49 +    CPPUNIT_ASSERT(tmp3 == q4);
50 +
51 +    //construct from w, x, y, z
52 +    Quat4d tmp4(0.0, -0.6, 0.0, -0.8);
53 +
54 +    CPPUNIT_ASSERT(tmp4 == q4);
55 +    
56   }
57  
58   void QuaternionTestCase::testArithmetic(){
59 +    Quat4d qd3(1, 1, 2, 1);
60 +    Quat4d qd4(1, 1, 1, 2);
61 +    
62 +    //test mul
63 +    Quat4d qda3L = qd3;
64 +    qda3L.mul(2.0);
65 +    CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,4,2) , qda3L );
66 +    
67 +    Quat4d qda5R = 2.0  * qd4;
68 +    qda5R.div(qd4);
69 +    CPPUNIT_ASSERT_EQUAL( Quat4d(2.0, 0.0, 0.0, 0.0) , qda5R );    
70 +
71   }
72  
73   void QuaternionTestCase::testOperators(){
74 +
75 +    Quat4d qd0(1, 1, 1, 1);
76 +    Quat4d qd1(2, 1, 1, 1);
77 +    Quat4d qd2(1, 2, 1, 1);
78 +    Quat4d qd3(1, 1, 2, 1);
79 +    Quat4d qd4(1, 1, 1, 2);
80 +
81 +
82 +    Quat4d qda2Q = qd2 - qd0;
83 +    Quat4d qda3L = qd3 * 2.0;
84 +    Quat4d qda3R = 2.0 * qd3;
85 +    Quat4d qda3Q = qd3 * qd0;
86 +    Quat4d qda4L = qd4 / 2.0;
87 +    Quat4d qda4R = 2.0 / qd4;
88 +    Quat4d qda4Q = qd4 / qd0;
89 +    Quat4d qda5L = qda4L * 2.0;
90 +    Quat4d qda5R = qda4R * qd4;
91 +    Quat4d qda5Q = qda4Q * qd0;    
92 +    
93 +    CPPUNIT_ASSERT_EQUAL( Quat4d(0,1,0,0) , qda2Q );
94 +    CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,4,2) , qda3L );
95 +    CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,4,2) , qda3R );
96 +    CPPUNIT_ASSERT_EQUAL( Quat4d(-3,3,3,1) , qda3Q );
97 +    CPPUNIT_ASSERT_EQUAL( Quat4d(0.5,0.5,0.5,1) , qda4L );
98 +    //CPPUNIT_ASSERT_EQUAL( 2.0 * qd4.inverse() , qda4R );
99 +    CPPUNIT_ASSERT_EQUAL( Quat4d(1.25,0.25,-0.25,0.25) , qda4Q );
100 +    CPPUNIT_ASSERT_EQUAL( qd4 , qda5L );
101 +    CPPUNIT_ASSERT_EQUAL( Quat4d(2.0, 0.0, 0.0, 0.0) , qda5R );
102 +    CPPUNIT_ASSERT_EQUAL( qd4 , qda5Q );
103 +
104 +    Quat4d quat0(1, 1, 1, 1);
105 +
106 +    Quat4d quat1a = quat0;
107 +    Quat4d quat1s = quat0;
108 +    Quat4d quat1p = quat0;
109 +    Quat4d quat1d = quat0;
110 +    
111 +    quat1a += 2.0;
112 +    quat1s -= 2.0;
113 +    quat1p *= 2.0;
114 +    quat1d /= 2.0;
115 +    
116 +    CPPUNIT_ASSERT_EQUAL( Quat4d(3,1,1,1) , quat1a );
117 +    CPPUNIT_ASSERT_EQUAL( Quat4d(-1,1,1,1) , quat1s );
118 +    CPPUNIT_ASSERT_EQUAL( Quat4d(2,2,2,2) , quat1p );
119 +    CPPUNIT_ASSERT_EQUAL( Quat4d(0.5,0.5,0.5,0.5) , quat1d );
120 +
121   }
122  
123   void QuaternionTestCase::testAccessEntries(){
124 +    CPPUNIT_ASSERT_DOUBLES_EQUAL(q1.w(), 1.0, oopse::epsilon);
125 +    CPPUNIT_ASSERT_DOUBLES_EQUAL(q2.x(), 0.6, oopse::epsilon);
126 +    CPPUNIT_ASSERT_DOUBLES_EQUAL(q3.y(), 0.5, oopse::epsilon);
127 +    CPPUNIT_ASSERT_DOUBLES_EQUAL(q4.z(), -0.8, oopse::epsilon);
128 +
129 +    Quat4d tmp;
130 +
131 +    tmp.w() = 0.0;
132 +    tmp.x() = -0.6;
133 +    tmp.y() = 0.0;
134 +    tmp.z() = -0.8;
135 +    
136 +    CPPUNIT_ASSERT(tmp == q4);
137 +
138 +
139   }
140  
141 < void QuaternionTestCase::testOtherTemplateFunctions(){        
141 > void QuaternionTestCase::testOtherMemberFunctions(){        
142 >    //test inverse
143 >    CPPUNIT_ASSERT(q2.inverse() == q4);
144  
145 +    //test conjugate
146 +    CPPUNIT_ASSERT(q2 == q4.conjugate());
147 +
148 +    //test toRotationMatrix3
149 +    SquareMatrix<double, 3> rotMat;
150 +
151 +    rotMat(0,0) = -0.28;
152 +    rotMat(0,1) =  0;
153 +    rotMat(0,2) =  0.96;
154 +
155 +    rotMat(1,0) =  0.0;
156 +    rotMat(1,1) = -1.0;
157 +    rotMat(1,2) =  0.0;
158 +
159 +    rotMat(2,0) = 0.96;
160 +    rotMat(2,1) = 0;
161 +    rotMat(2,2) = 0.28;
162 +
163 +    CPPUNIT_ASSERT(rotMat == q4.toRotationMatrix3());
164 +
165   }

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