ViewVC Help
View File | Revision Log | Show Annotations | View Changeset | Root Listing
root/group/trunk/OOPSE-4/test/math/SquareMatrix3TestCase.cpp
(Generate patch)

Comparing trunk/OOPSE-4/test/math/SquareMatrix3TestCase.cpp (file contents):
Revision 1593 by tim, Mon Oct 18 21:03:15 2004 UTC vs.
Revision 1606 by tim, Tue Oct 19 23:01:03 2004 UTC

# Line 4 | Line 4 | void SquareMatrix3TestCase::setUp(){
4   CPPUNIT_TEST_SUITE_REGISTRATION( SquareMatrix3TestCase );
5  
6  
7 < void SquareMatrix3TestCase::setUp(){
8 < }
7 > void SquareMatrix3TestCase::testSetupRotationMatrix(){
8 >    //test setupRotationMatrix by quaternion
9  
10 < void SquareMatrix3TestCase::tearDown(){
11 < }
10 >    RotMat3x3d m1L(0.0, -0.6, 0.0, -0.8);
11 >    RotMat3x3d m1R;
12 >    m1R(0,0) = -0.28;
13 >    m1R(0,1) =  0;
14 >    m1R(0,2) =  0.96;
15 >    m1R(1,0) =  0.0;
16 >    m1R(1,1) = -1.0;
17 >    m1R(1,2) =  0.0;
18 >    m1R(2,0) = 0.96;
19 >    m1R(2,1) = 0;
20 >    m1R(2,2) = 0.28;
21  
22 < void SquareMatrix3TestCase::testConstructors(){
14 < }
22 >    CPPUNIT_ASSERT(m1L == m1R);
23  
24 < void SquareMatrix3TestCase::testArithmetic(){
25 < }
24 >    Quat4d q1(0.0, -0.6, 0.0, -0.8);
25 >    RotMat3x3d m2L(q1);
26 >    RotMat3x3d m2R(m1R);
27 >    CPPUNIT_ASSERT(m2L == m2R);
28 >    
29 >    //test setupRotationMatrix by euler angles
30 >    Vector3d v1(0.0, M_PI/2.0, 0.0);
31 >    RotMat3x3d m3L(v1);
32 >    RotMat3x3d m3R;
33 >    m3R(0,0) = 1.0;
34 >    m3R(0,1) = 0;
35 >    m3R(0,2) = 0.0;
36 >    m3R(1,0) = 0.0;
37 >    m3R(1,1) = 0.0;
38 >    m3R(1,2) = 1.0;
39 >    m3R(2,0) = 0.0;
40 >    m3R(2,1) = -1.0;
41 >    m3R(2,2) = 0.0;    
42 >    CPPUNIT_ASSERT( m3L == m3R);
43  
44 < void SquareMatrix3TestCase::testOperators(){
45 < }
44 >    RotMat3x3d m4L(0.0, M_PI/2.0, 0.0);
45 >    RotMat3x3d m4R = m3R;    
46 >    CPPUNIT_ASSERT( m4L == m4R);    
47  
48 < void SquareMatrix3TestCase::testAccessEntries(){
48 >    Vector3d v2(M_PI/4.0, M_PI/4.0, M_PI/4.0);
49 >    RotMat3x3d m5L(v2);
50 >    RotMat3x3d m5R;
51 >    double root2Over4 = sqrt(2)/4.0;
52 >    m5R(0,0) = 0.5 - root2Over4;
53 >    m5R(0,1) = 0.5 + root2Over4;
54 >    m5R(0,2) = 0.5;
55 >    m5R(1,0) = -0.5 -root2Over4;
56 >    m5R(1,1) = -0.5 + root2Over4;
57 >    m5R(1,2) = 0.5;
58 >    m5R(2,0) = 0.5;
59 >    m5R(2,1) = -0.5;
60 >    m5R(2,2) = sqrt(2)/2.0;    
61 >    CPPUNIT_ASSERT( m5L == m5R);
62 >
63 >    
64   }
65  
66 < void SquareMatrix3TestCase::testOtherTemplateFunctions(){        
66 > void SquareMatrix3TestCase::testOtherMemberFunctions() {
67 >    //test inverse
68 >    RotMat3x3d ident = RotMat3x3d::identity();
69 >    CPPUNIT_ASSERT(ident == ident.inverse());
70  
71 +    RotMat3x3d m1;
72 +    m1(0,0) = 1.0;
73 +    m1(0,1) = 5.0;
74 +    m1(0,2) = 3.0;
75 +    m1(1,0) = 3.0;
76 +    m1(1,1) = 1.0;
77 +    m1(1,2) = 2.0;
78 +    m1(2,0) = 0.0;
79 +    m1(2,1) = -21.0;
80 +    m1(2,2) = -81.0;
81 +    
82 +    CPPUNIT_ASSERT(m1 == (m1.inverse()).inverse());
83 +    
84 +    //test determinant
85 +    RotMat3x3d m2;
86 +    m2(0,0) = 1.0;
87 +    m2(0,1) = 5.0;
88 +    m2(0,2) = 3.0;
89 +    m2(1,0) = 6.0;
90 +    m2(1,1) = 0.0;
91 +    m2(1,2) = 2.0;
92 +    m2(2,0) = 0.0;
93 +    m2(2,1) = -1.0;
94 +    m2(2,2) = 1.0;
95 +    CPPUNIT_ASSERT_DOUBLES_EQUAL(m2.determinant(), -46.0, oopse::epsilon);
96   }
97 + void SquareMatrix3TestCase::testTransformation(){
98  
99 +    //test toQuaternion
100 +    RotMat3x3d m1;
101 +    Quat4d q1L;
102 +    Quat4d q1R(0.0, -0.6, 0.0, -0.8);
103 +    m1(0,0) = -0.28;
104 +    m1(0,1) =  0;
105 +    m1(0,2) =  0.96;
106 +    m1(1,0) =  0.0;
107 +    m1(1,1) = -1.0;
108 +    m1(1,2) =  0.0;
109 +    m1(2,0) = 0.96;
110 +    m1(2,1) = 0;
111 +    m1(2,2) = 0.28;
112 +    q1L = m1.toQuaternion();
113 +    //CPPUNIT_ASSERT( q1L == q1R);    
114 +
115 +    RotMat3x3d m2;
116 +    Quat4d q2L(0.4, -0.6, 0.3, -0.8);
117 +    Quat4d q2R;
118 +    q2L.normalize();
119 +
120 +    m2 = q2L.toRotationMatrix3();    
121 +    q2R = m2.toQuaternion();
122 +    CPPUNIT_ASSERT( q2L == q2R);    
123 +    
124 +    //test toEuler
125 +    Vector3d v1L;
126 +    Vector3d v1R(M_PI/4.0, M_PI/4.0, M_PI/4.0);
127 +    RotMat3x3d m3;
128 +    double root2Over4 = sqrt(2)/4.0;
129 +    m3(0,0) = 0.5 - root2Over4;
130 +    m3(0,1) = 0.5 + root2Over4;
131 +    m3(0,2) = 0.5;
132 +    m3(1,0) = -0.5 -root2Over4;
133 +    m3(1,1) = -0.5 + root2Over4;
134 +    m3(1,2) = 0.5;
135 +    m3(2,0) = 0.5;
136 +    m3(2,1) = -0.5;
137 +    m3(2,2) = sqrt(2)/2.0;    
138 +    v1L = m3.toEulerAngles();
139 +    CPPUNIT_ASSERT( v1L == v1R);
140 +
141 +    //test diagonalize
142 +
143 +    RotMat3x3d m4;
144 +    RotMat3x3d a;
145 +    Vector3d w;
146 +    RotMat3x3d v;
147 +    m4(0,0) = 1.0;
148 +    m4(0,1) = 5.0;
149 +    m4(0,2) = 3.0;
150 +    m4(1,0) = 3.0;
151 +    m4(1,1) = 1.0;
152 +    m4(1,2) = 2.0;
153 +    m4(2,0) = 0.0;
154 +    m4(2,1) = -21.0;
155 +    m4(2,2) = -81.0;
156 +    m4.diagonalize(a, w, v);
157 +
158 +    std::cout << std::endl;
159 +    std::cout << a << std::endl;    
160 +
161 +    std::cout << std::endl;
162 +    std::cout << w << std::endl;    
163 +
164 +    std::cout << std::endl;
165 +    std::cout << v << std::endl;    
166 +
167 + }

Diff Legend

– Removed lines
+ Added lines
< Changed lines
> Changed lines