Directory: | ./ |
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File: | test/math.cpp |
Date: | 2025-04-01 09:23:31 |
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1 | /* | ||
2 | * Software License Agreement (BSD License) | ||
3 | * | ||
4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
6 | * All rights reserved. | ||
7 | * | ||
8 | * Redistribution and use in source and binary forms, with or without | ||
9 | * modification, are permitted provided that the following conditions | ||
10 | * are met: | ||
11 | * | ||
12 | * * Redistributions of source code must retain the above copyright | ||
13 | * notice, this list of conditions and the following disclaimer. | ||
14 | * * Redistributions in binary form must reproduce the above | ||
15 | * copyright notice, this list of conditions and the following | ||
16 | * disclaimer in the documentation and/or other materials provided | ||
17 | * with the distribution. | ||
18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
19 | * contributors may be used to endorse or promote products derived | ||
20 | * from this software without specific prior written permission. | ||
21 | * | ||
22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
33 | * POSSIBILITY OF SUCH DAMAGE. | ||
34 | */ | ||
35 | |||
36 | #define _USE_MATH_DEFINES | ||
37 | #include <cmath> | ||
38 | |||
39 | #define BOOST_TEST_MODULE COAL_MATH | ||
40 | #include <boost/test/included/unit_test.hpp> | ||
41 | |||
42 | #include "coal/data_types.h" | ||
43 | #include "coal/math/transform.h" | ||
44 | |||
45 | #include "coal/internal/intersect.h" | ||
46 | #include "coal/internal/tools.h" | ||
47 | |||
48 | using namespace coal; | ||
49 | |||
50 |
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4 | BOOST_AUTO_TEST_CASE(vec_test_eigen_vec64) { |
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2 | Vec3s v1(1, 2, 3); |
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2 | BOOST_CHECK(v1[0] == Scalar(1)); |
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2 | BOOST_CHECK(v1[1] == Scalar(2)); |
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2 | BOOST_CHECK(v1[2] == Scalar(3)); |
55 | |||
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2 | Vec3s v2 = v1; |
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2 | Vec3s v3(Scalar(3.3), Scalar(4.3), Scalar(5.3)); |
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2 | v1 += v3; |
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2 | BOOST_CHECK(isEqual(v1, v2 + v3)); |
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2 | v1 -= v3; |
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2 | BOOST_CHECK(isEqual(v1, v2)); |
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2 | v1 -= v3; |
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2 | BOOST_CHECK(isEqual(v1, v2 - v3)); |
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2 | v1 += v3; |
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2 | v1.array() *= v3.array(); |
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2 | BOOST_CHECK(isEqual(v1, v2.cwiseProduct(v3))); |
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2 | v1.array() /= v3.array(); |
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2 | BOOST_CHECK(isEqual(v1, v2)); |
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2 | v1.array() /= v3.array(); |
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2 | BOOST_CHECK(isEqual(v1, v2.cwiseQuotient(v3))); |
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2 | v1.array() *= v3.array(); |
73 | |||
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2 | v1 *= 2.0; |
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2 | BOOST_CHECK(isEqual(v1, v2 * 2.0)); |
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2 | v1 /= 2.0; |
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2 | BOOST_CHECK(isEqual(v1, v2)); |
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2 | v1 /= 2.0; |
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2 | BOOST_CHECK(isEqual(v1, v2 / 2.0)); |
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2 | v1 *= 2.0; |
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2 | v1.array() += 2.0; |
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2 | BOOST_CHECK(isEqual(v1, (v2.array() + 2.0).matrix())); |
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2 | v1.array() -= 2.0; |
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2 | BOOST_CHECK(isEqual(v1, v2)); |
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2 | v1.array() -= 2.0; |
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2 | BOOST_CHECK(isEqual(v1, (v2.array() - 2.0).matrix())); |
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2 | v1.array() += 2.0; |
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2 | BOOST_CHECK(isEqual((-Vec3s(1.0, 2.0, 3.0)), Vec3s(-1.0, -2.0, -3.0))); |
91 | |||
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2 | v1 = Vec3s(1.0, 2.0, 3.0); |
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2 | v2 = Vec3s(3.0, 4.0, 5.0); |
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2 | BOOST_CHECK(isEqual((v1.cross(v2)), Vec3s(-2.0, 4.0, -2.0))); |
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2 | BOOST_CHECK(std::abs(v1.dot(v2) - 26) < 1e-5); |
96 | |||
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2 | v1 = Vec3s(3.0, 4.0, 5.0); |
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2 | BOOST_CHECK(std::abs(v1.squaredNorm() - 50) < 1e-5); |
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2 | BOOST_CHECK(std::abs(v1.norm() - sqrt(50)) < 1e-5); |
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2 | BOOST_CHECK(isEqual(v1.normalized(), v1 / v1.norm())); |
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2 | v1 = Vec3s(1.0, 2.0, 3.0); |
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2 | v2 = Vec3s(3.0, 4.0, 5.0); |
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2 | BOOST_CHECK(isEqual(v1.cross(v2), Vec3s(-2.0, 4.0, -2.0))); |
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2 | BOOST_CHECK(v1.dot(v2) == 26); |
106 | 2 | } | |
107 | |||
108 | 1 | Vec3s rotate(Vec3s input, Scalar w, Vec3s vec) { | |
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1 | return 2 * vec.dot(input) * vec + (w * w - vec.dot(vec)) * input + |
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3 | 2 * w * vec.cross(input); |
111 | } | ||
112 | |||
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4 | BOOST_AUTO_TEST_CASE(quaternion) { |
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2 | Quats q1(Quats::Identity()), q2, q3; |
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2 | q2 = fromAxisAngle(Vec3s(0, 0, 1), Scalar(M_PI / 2)); |
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2 | q3 = q2.inverse(); |
117 | |||
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2 | Vec3s v(1, -1, 0); |
119 | |||
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2 | BOOST_CHECK(isEqual(v, q1 * v)); |
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2 | BOOST_CHECK(isEqual(Vec3s(1, 1, 0), q2 * v)); |
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2 | BOOST_CHECK( |
123 | isEqual(rotate(v, q3.w(), Vec3s(q3.x(), q3.y(), q3.z())), q3 * v)); | ||
124 | 2 | } | |
125 | |||
126 |
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4 | BOOST_AUTO_TEST_CASE(transform) { |
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2 | Quats q = fromAxisAngle(Vec3s(0, 0, 1), Scalar(M_PI / 2)); |
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2 | Vec3s T(0, 1, 2); |
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2 | Transform3s tf(q, T); |
130 | |||
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2 | Vec3s v(1, -1, 0); |
132 | |||
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2 | BOOST_CHECK(isEqual(q * v + T, q * v + T)); |
134 | |||
135 |
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2 | Vec3s rv(q * v); |
136 | // typename Transform3s::transform_return_type<Vec3s>::type output = | ||
137 | // tf * v; | ||
138 | // std::cout << rv << std::endl; | ||
139 | // std::cout << output.lhs() << std::endl; | ||
140 |
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2 | BOOST_CHECK(isEqual(rv + T, tf.transform(v))); |
141 | 2 | } | |
142 | |||
143 |
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4 | BOOST_AUTO_TEST_CASE(random_transform) { |
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202 | for (size_t i = 0; i < 100; ++i) { |
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200 | const Transform3s tf = Transform3s::Random(); |
146 |
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200 | BOOST_CHECK((tf.inverseTimes(tf)).isIdentity()); |
147 | } | ||
148 | 2 | } | |
149 |