98 lines
3.3 KiB
C++
98 lines
3.3 KiB
C++
#if GTEST
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#include <gtest/gtest.h>
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#include <math.h>
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#include <limits>
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#include "SwingTwist.h"
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#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
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TEST(SwingTwistSingle, Quaternion) {
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Quaternion q;
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SwingTwistSingle s;
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Quaternion rq;
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q = Quaternion::identity;
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s = SwingTwistSingle::FromQuaternion(q);
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rq = s.ToQuaternion();
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EXPECT_EQ(q, rq) << " 0 0 0 1 <-> SwingTwist";
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q = Quaternion::Euler(90, 0, 0);
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s = SwingTwistSingle::FromQuaternion(q);
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rq = s.ToQuaternion();
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EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 90 0 0 <-> SwingTwist";
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q = Quaternion::Euler(0, 90, 0);
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s = SwingTwistSingle::FromQuaternion(q);
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rq = s.ToQuaternion();
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EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
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q = Quaternion::Euler(0, 0, 90);
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s = SwingTwistSingle::FromQuaternion(q);
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rq = s.ToQuaternion();
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EXPECT_EQ(q, rq) << " Euler 0 0 90 <-> SwingTwist";
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q = Quaternion::Euler(0, 180, 0); // ==> spherical S(180 0)T0
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s = SwingTwistSingle::FromQuaternion(q);
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rq = s.ToQuaternion();
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EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
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q = Quaternion::Euler(0, 135, 0); // ==> spherical S(180 45)T0
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s = SwingTwistSingle::FromQuaternion(q);
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rq = s.ToQuaternion();
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EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
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}
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TEST(SwingTwistSingle, AngleAxis) {
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SwingTwistSingle s;
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SwingTwistSingle r;
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s = SwingTwistSingle::AngleAxis(0, DirectionSingle::up);
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EXPECT_EQ(s, SwingTwistSingle::Degrees(0, 0, 0)) << "0 up";
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r = SwingTwistSingle::AngleAxis(90, DirectionSingle::up);
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s = SwingTwistSingle::Degrees(90, 0, 0);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "90 up";
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r = SwingTwistSingle::AngleAxis(180, DirectionSingle::up);
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s = SwingTwistSingle::Degrees(180, 0, 0);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "180 up";
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r = SwingTwistSingle::AngleAxis(270, DirectionSingle::up);
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s = SwingTwistSingle::Degrees(-90, 0, 0);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "270 up";
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r = SwingTwistSingle::AngleAxis(90, DirectionSingle::right);
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s = SwingTwistSingle::Degrees(0, 90, 0);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "90 right";
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r = SwingTwistSingle::AngleAxis(180, DirectionSingle::right);
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s = SwingTwistSingle::Degrees(0, 180, 0);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "180 right";
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r = SwingTwistSingle::AngleAxis(270, DirectionSingle::right);
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s = SwingTwistSingle::Degrees(0, -90, 0);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "270 right";
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r = SwingTwistSingle::AngleAxis(90, DirectionSingle::forward);
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s = SwingTwistSingle::Degrees(0, 0, 90);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "90 up";
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r = SwingTwistSingle::AngleAxis(180, DirectionSingle::forward);
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s = SwingTwistSingle::Degrees(0, 0, 180);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "180 up";
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r = SwingTwistSingle::AngleAxis(270, DirectionSingle::forward);
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s = SwingTwistSingle::Degrees(0, 0, -90);
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EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
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<< "270 up";
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}
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#endif |