| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // #ifdef CURVES_WITH_PINOCCHIO_SUPPORT | ||
| 2 | |||
| 3 | #define EIGEN_RUNTIME_NO_MALLOC | ||
| 4 | #define BOOST_TEST_MODULE test_so3_smooth | ||
| 5 | |||
| 6 | #include <boost/test/included/unit_test.hpp> | ||
| 7 | #include <random> | ||
| 8 | |||
| 9 | #include "ndcurves/fwd.h" | ||
| 10 | #include "ndcurves/serialization/curves.hpp" | ||
| 11 | #include "ndcurves/so3_smooth.h" | ||
| 12 | |||
| 13 | using namespace ndcurves; | ||
| 14 | |||
| 15 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 16 | |||
| 17 | 16 | double generateRandomNumber(double lower, double upper) { | |
| 18 | // Some random number | ||
| 19 |
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16 | std::random_device rd; |
| 20 |
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16 | std::mt19937 gen(rd()); |
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16 | std::uniform_real_distribution<> dist(lower, upper); |
| 22 |
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32 | return dist(gen); |
| 23 | 16 | } | |
| 24 | |||
| 25 |
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4 | BOOST_AUTO_TEST_CASE(default_constructor) { |
| 26 |
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2 | SO3Smooth_t traj; |
| 27 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
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2 | BOOST_CHECK_EQUAL(traj.min(), 0.0); |
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2 | BOOST_CHECK_EQUAL(traj.max(), 1.0); |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
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2 | BOOST_CHECK( |
| 32 | ndcurves::matrix3_t::Identity().isApprox(traj.get_init_rotation())); | ||
| 33 |
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2 | BOOST_CHECK( |
| 34 | ndcurves::matrix3_t::Identity().isApprox(traj.get_end_rotation())); | ||
| 35 | 2 | } | |
| 36 | |||
| 37 |
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4 | BOOST_AUTO_TEST_CASE(default_generate) { |
| 38 |
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2 | SO3Smooth_t traj; |
| 39 | |||
| 40 | // Real-time critical | ||
| 41 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 42 |
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2 | traj.generate(); |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
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2 | BOOST_CHECK_EQUAL(traj.min(), 0.0); |
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2 | BOOST_CHECK_EQUAL(traj.max(), 1.0); |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), Eigen::Matrix3d::Identity()); |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), Eigen::Matrix3d::Identity()); |
| 49 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 50 | 2 | } | |
| 51 | |||
| 52 |
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4 | BOOST_AUTO_TEST_CASE(from_quat_and_time_constructor) { |
| 53 | // Create some start variables. | ||
| 54 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 60 | |||
| 61 | // Create the object. | ||
| 62 |
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2 | SO3Smooth_t traj(init_quat, end_quat, t_min, t_max); |
| 63 | |||
| 64 | // Test the object. | ||
| 65 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
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2 | BOOST_CHECK_EQUAL(traj.min(), t_min); |
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2 | BOOST_CHECK_EQUAL(traj.max(), t_max); |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 71 | 2 | } | |
| 72 | |||
| 73 |
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4 | BOOST_AUTO_TEST_CASE(from_quat_and_time_generate) { |
| 74 | // Create some start variables. | ||
| 75 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 76 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 81 | |||
| 82 | // Create the object. | ||
| 83 |
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2 | SO3Smooth_t traj; |
| 84 | |||
| 85 | // Real-time critical | ||
| 86 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 87 | |||
| 88 | // Generate the trajectory. | ||
| 89 |
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2 | traj.generate(init_quat, end_quat, t_min, t_max); |
| 90 | |||
| 91 | // Test the object. | ||
| 92 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
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2 | BOOST_CHECK_EQUAL(traj.min(), t_min); |
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2 | BOOST_CHECK_EQUAL(traj.max(), t_max); |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 98 | |||
| 99 | // Real-time critical | ||
| 100 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 101 | 2 | } | |
| 102 | |||
| 103 |
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4 | BOOST_AUTO_TEST_CASE(from_rot_and_time_constructor) { |
| 104 | // Create some start variables. | ||
| 105 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 106 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 107 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 108 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 109 |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
| 110 |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 111 | |||
| 112 | // Create the object. | ||
| 113 |
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2 | SO3Smooth_t traj(init_rot, end_rot, t_min, t_max); |
| 114 | |||
| 115 | // Test the object. | ||
| 116 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 117 |
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2 | BOOST_CHECK_EQUAL(traj.min(), t_min); |
| 118 |
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2 | BOOST_CHECK_EQUAL(traj.max(), t_max); |
| 119 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 120 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 121 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 122 | 2 | } | |
| 123 | |||
| 124 |
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4 | BOOST_AUTO_TEST_CASE(from_rot_and_time_generate) { |
| 125 | // Create some start variables. | ||
| 126 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 127 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 128 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 129 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 130 |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
| 131 |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 132 | |||
| 133 | // Create the object. | ||
| 134 |
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2 | SO3Smooth_t traj; |
| 135 | |||
| 136 | // Real-time critical | ||
| 137 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 138 | |||
| 139 | // Generate the trajectory. | ||
| 140 |
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2 | traj.generate(init_rot, end_rot, t_min, t_max); |
| 141 | |||
| 142 | // Test the object. | ||
| 143 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 144 |
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2 | BOOST_CHECK_EQUAL(traj.min(), t_min); |
| 145 |
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2 | BOOST_CHECK_EQUAL(traj.max(), t_max); |
| 146 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 147 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 148 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 149 | |||
| 150 | // Real-time critical | ||
| 151 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 152 | 2 | } | |
| 153 | |||
| 154 |
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4 | BOOST_AUTO_TEST_CASE(from_quat_constructor) { |
| 155 | // Create some start variables. | ||
| 156 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 157 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 158 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 159 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 160 | |||
| 161 | // Create the object. | ||
| 162 |
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2 | SO3Smooth_t traj(init_quat, end_quat); |
| 163 | |||
| 164 | // Test the object. | ||
| 165 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 166 |
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2 | BOOST_CHECK_EQUAL(traj.min(), 0.0); |
| 167 |
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2 | BOOST_CHECK_EQUAL(traj.max(), 1.0); |
| 168 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 169 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 170 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 171 | 2 | } | |
| 172 | |||
| 173 |
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4 | BOOST_AUTO_TEST_CASE(from_quat_generate) { |
| 174 | // Create some start variables. | ||
| 175 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 176 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 177 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 178 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 179 | |||
| 180 | // Create the object. | ||
| 181 |
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2 | SO3Smooth_t traj; |
| 182 | |||
| 183 | // Real-time critical | ||
| 184 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 185 | |||
| 186 | // Generate the trajectory. | ||
| 187 |
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2 | traj.generate(init_quat, end_quat); |
| 188 | |||
| 189 | // Test the object. | ||
| 190 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 191 |
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2 | BOOST_CHECK_EQUAL(traj.min(), 0.0); |
| 192 |
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2 | BOOST_CHECK_EQUAL(traj.max(), 1.0); |
| 193 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 194 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 195 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 196 | |||
| 197 | // Real-time critical | ||
| 198 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 199 | 2 | } | |
| 200 | |||
| 201 |
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4 | BOOST_AUTO_TEST_CASE(from_rot_constructor) { |
| 202 | // Create some start variables. | ||
| 203 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 204 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 205 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 206 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 207 | |||
| 208 | // Create the object. | ||
| 209 |
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2 | SO3Smooth_t traj(init_rot, end_rot); |
| 210 | |||
| 211 | // Test the object. | ||
| 212 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 213 |
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2 | BOOST_CHECK_EQUAL(traj.min(), 0.0); |
| 214 |
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2 | BOOST_CHECK_EQUAL(traj.max(), 1.0); |
| 215 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 216 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 217 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 218 | 2 | } | |
| 219 | |||
| 220 |
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4 | BOOST_AUTO_TEST_CASE(from_rot_generate) { |
| 221 | // Create some start variables. | ||
| 222 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 223 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 224 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 225 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 226 | |||
| 227 | // Create the object. | ||
| 228 |
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2 | SO3Smooth_t traj; |
| 229 | |||
| 230 | // Real-time critical | ||
| 231 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 232 | |||
| 233 | // Generate the trajectory. | ||
| 234 |
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2 | traj.generate(init_rot, end_rot); |
| 235 | |||
| 236 | // Test the object. | ||
| 237 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 238 |
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2 | BOOST_CHECK_EQUAL(traj.min(), 0.0); |
| 239 |
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2 | BOOST_CHECK_EQUAL(traj.max(), 1.0); |
| 240 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 241 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 242 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 243 | |||
| 244 | // Real-time critical | ||
| 245 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 246 | 2 | } | |
| 247 | |||
| 248 |
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4 | BOOST_AUTO_TEST_CASE(copy_real_time) { |
| 249 | // None real_time critical | ||
| 250 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 251 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 252 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 253 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 254 |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
| 255 |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 256 | |||
| 257 | // Create 2 objects and 1 initialized to be copied. | ||
| 258 |
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2 | SO3Smooth_t traj1(init_quat, end_quat, t_min, t_max); |
| 259 | |||
| 260 | // Construct and copy the traj1 object. | ||
| 261 |
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2 | SO3Smooth_t traj2(traj1); |
| 262 | |||
| 263 | // Test both trajectories independently. | ||
| 264 |
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2 | BOOST_CHECK_EQUAL(traj1.dim(), 3); |
| 265 |
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2 | BOOST_CHECK_EQUAL(traj1.min(), t_min); |
| 266 |
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2 | BOOST_CHECK_EQUAL(traj1.max(), t_max); |
| 267 |
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2 | BOOST_CHECK_EQUAL(traj1.degree(), 5.0); |
| 268 |
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2 | BOOST_CHECK_EQUAL(traj1.get_init_rotation(), init_rot); |
| 269 |
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2 | BOOST_CHECK_EQUAL(traj1.get_end_rotation(), end_rot); |
| 270 |
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2 | BOOST_CHECK_EQUAL(traj2.dim(), 3); |
| 271 |
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2 | BOOST_CHECK_EQUAL(traj2.min(), t_min); |
| 272 |
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2 | BOOST_CHECK_EQUAL(traj2.max(), t_max); |
| 273 |
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2 | BOOST_CHECK_EQUAL(traj2.degree(), 5.0); |
| 274 |
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2 | BOOST_CHECK_EQUAL(traj2.get_init_rotation(), init_rot); |
| 275 |
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2 | BOOST_CHECK_EQUAL(traj2.get_end_rotation(), end_rot); |
| 276 | 2 | } | |
| 277 | |||
| 278 |
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4 | BOOST_AUTO_TEST_CASE(computation_check) { |
| 279 | // Create some start variables. | ||
| 280 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 281 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 282 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 283 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 284 |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
| 285 |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 286 |
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2 | std::vector<matrix3_t, Eigen::aligned_allocator<matrix3_t>> traj_discr; |
| 287 | 2 | double dt = 1e-4; | |
| 288 | 2 | std::size_t nb_sample = static_cast<std::size_t>((t_max - t_min) / dt); | |
| 289 |
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2 | traj_discr.resize(nb_sample, matrix3_t::Zero()); |
| 290 | |||
| 291 | // Create the object. | ||
| 292 |
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2 | SO3Smooth_t traj; |
| 293 | |||
| 294 | // Real-time critical | ||
| 295 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 296 | |||
| 297 | // Generate the trajectory. | ||
| 298 |
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2 | traj.generate(init_rot, end_rot, t_min, t_max); |
| 299 | |||
| 300 | // Evaluate the trajectory. | ||
| 301 |
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20900 | for (std::size_t i = 0; i < traj_discr.size(); ++i) { |
| 302 |
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20898 | traj_discr[i] = traj(t_min + static_cast<double>(i) * dt); |
| 303 | } | ||
| 304 | |||
| 305 | // Test the object. | ||
| 306 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 307 |
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2 | BOOST_CHECK_EQUAL(traj.min(), t_min); |
| 308 |
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2 | BOOST_CHECK_EQUAL(traj.max(), t_max); |
| 309 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 310 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 311 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 312 |
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2 | BOOST_CHECK(traj(traj.min()).isApprox(init_rot)); |
| 313 |
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2 | BOOST_CHECK(traj(traj.max()).isApprox(end_rot)); |
| 314 | |||
| 315 | // Real-time critical | ||
| 316 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 317 | |||
| 318 | // Continuity test. | ||
| 319 |
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20898 | for (std::size_t i = 1; i < traj_discr.size(); ++i) { |
| 320 |
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20896 | matrix3_t error = traj_discr[i] - traj_discr[i - 1]; |
| 321 |
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83584 | for (Eigen::Index row = 0; row < error.rows(); ++row) { |
| 322 |
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250752 | for (Eigen::Index col = 0; col < error.cols(); ++col) { |
| 323 |
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188064 | BOOST_CHECK_LE(std::abs(error(row, col)), 1e-2); |
| 324 | } | ||
| 325 | } | ||
| 326 | } | ||
| 327 | 2 | } | |
| 328 | |||
| 329 |
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4 | BOOST_AUTO_TEST_CASE(derivate_computation_check) { |
| 330 | // Create some start variables. | ||
| 331 |
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
| 332 |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
| 333 |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
| 334 |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
| 335 |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
| 336 |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 337 |
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2 | Eigen::MatrixXd traj_vel_discr; |
| 338 |
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2 | Eigen::MatrixXd traj_acc_discr; |
| 339 | 2 | double dt = 1e-3; | |
| 340 | 2 | std::size_t nb_sample = static_cast<std::size_t>((t_max - t_min) / dt); | |
| 341 |
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2 | traj_vel_discr.resize(3, nb_sample); |
| 342 |
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2 | traj_acc_discr.resize(3, nb_sample); |
| 343 | |||
| 344 | // Create the object. | ||
| 345 |
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2 | SO3Smooth_t traj; |
| 346 | |||
| 347 | // Real-time critical | ||
| 348 | 2 | Eigen::internal::set_is_malloc_allowed(false); | |
| 349 | |||
| 350 | // Generate the trajectory. | ||
| 351 |
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2 | traj.generate(init_rot, end_rot, t_min, t_max); |
| 352 | |||
| 353 | // Evaluate the trajectory. | ||
| 354 |
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12922 | for (std::size_t i = 0; i < nb_sample; ++i) { |
| 355 | 12920 | double t = t_min + static_cast<double>(i) * dt; | |
| 356 |
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12920 | traj_vel_discr.col(i) = traj.derivate(t, 1); |
| 357 |
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12920 | traj_acc_discr.col(i) = traj.derivate(t, 2); |
| 358 | } | ||
| 359 | |||
| 360 | // Test the object. | ||
| 361 |
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2 | BOOST_CHECK_EQUAL(traj.dim(), 3); |
| 362 |
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2 | BOOST_CHECK_EQUAL(traj.min(), t_min); |
| 363 |
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2 | BOOST_CHECK_EQUAL(traj.max(), t_max); |
| 364 |
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2 | BOOST_CHECK_EQUAL(traj.degree(), 5.0); |
| 365 |
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2 | BOOST_CHECK_EQUAL(traj.get_init_rotation(), init_rot); |
| 366 |
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2 | BOOST_CHECK_EQUAL(traj.get_end_rotation(), end_rot); |
| 367 |
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2 | BOOST_CHECK((traj(traj.min()) - init_rot).isMuchSmallerThan(1, -1e-8)); |
| 368 |
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2 | BOOST_CHECK((traj(traj.max()) - end_rot).isMuchSmallerThan(1, -1e-8)); |
| 369 |
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2 | BOOST_CHECK_EQUAL(traj.derivate(traj.min(), 1), point3_t::Zero()); |
| 370 |
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2 | BOOST_CHECK_LE(traj.derivate(traj.max(), 1).norm(), 1e-3); |
| 371 | |||
| 372 | // Real-time critical | ||
| 373 | 2 | Eigen::internal::set_is_malloc_allowed(true); | |
| 374 | |||
| 375 |
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2 | point3_t vel_max; |
| 376 |
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2 | vel_max << traj_vel_discr.row(0).maxCoeff(), traj_vel_discr.row(1).maxCoeff(), |
| 377 |
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2 | traj_vel_discr.row(2).maxCoeff(); |
| 378 |
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2 | point3_t vel_min; |
| 379 |
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2 | vel_min << traj_vel_discr.row(0).minCoeff(), traj_vel_discr.row(1).minCoeff(), |
| 380 |
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2 | traj_vel_discr.row(2).minCoeff(); |
| 381 |
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2 | point3_t vel_amplitude = (vel_max - vel_min).array().abs(); |
| 382 |
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2 | point3_t acc_max; |
| 383 |
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2 | acc_max << traj_acc_discr.row(0).maxCoeff(), traj_acc_discr.row(1).maxCoeff(), |
| 384 |
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2 | traj_acc_discr.row(2).maxCoeff(); |
| 385 |
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2 | point3_t acc_min; |
| 386 |
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2 | acc_min << traj_acc_discr.row(0).minCoeff(), traj_acc_discr.row(1).minCoeff(), |
| 387 |
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2 | traj_acc_discr.row(2).minCoeff(); |
| 388 |
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2 | point3_t acc_amplitude = (acc_max - acc_min).array().abs(); |
| 389 | |||
| 390 | // Continuity test. | ||
| 391 |
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12920 | for (std::size_t i = 1; i < nb_sample; ++i) { |
| 392 |
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12918 | point3_t error = traj_vel_discr.col(i) - traj_vel_discr.col(i - 1); |
| 393 |
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51672 | for (Eigen::Index j = 0; j < error.size(); ++j) { |
| 394 |
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38754 | BOOST_CHECK_LE(std::abs(error(j)), 1e-0 * vel_amplitude(j)); |
| 395 | } | ||
| 396 | } | ||
| 397 | |||
| 398 |
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12920 | for (std::size_t i = 1; i < nb_sample; ++i) { |
| 399 |
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12918 | point3_t error = traj_acc_discr.col(i) - traj_acc_discr.col(i - 1); |
| 400 |
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51672 | for (Eigen::Index j = 0; j < error.size(); ++j) { |
| 401 |
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38754 | BOOST_CHECK_LE(std::abs(error(j)), 1e-0 * acc_amplitude(j)); |
| 402 | } | ||
| 403 | } | ||
| 404 | 2 | } | |
| 405 | |||
| 406 |
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4 | BOOST_AUTO_TEST_CASE(serialization) { |
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2 | std::string fileName("fileTest_constant"); |
| 408 | |||
| 409 | // Create some start variables. | ||
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2 | quaternion_t init_quat = quaternion_t::UnitRandom(); |
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2 | matrix3_t init_rot = init_quat.toRotationMatrix(); |
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2 | quaternion_t end_quat = quaternion_t::UnitRandom(); |
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2 | matrix3_t end_rot = end_quat.toRotationMatrix(); |
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2 | double t_min = generateRandomNumber(0.0, 100.0); |
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2 | double t_max = t_min + generateRandomNumber(0.1, 10.0); |
| 416 | |||
| 417 | // Create the object. | ||
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2 | SO3Smooth_t c(init_quat, end_quat, t_min, t_max); |
| 419 | |||
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2 | c.saveAsText<SO3Smooth_t>(fileName + ".txt"); |
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2 | c.saveAsXML<SO3Smooth_t>(fileName + ".xml", "constant"); |
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2 | c.saveAsBinary<SO3Smooth_t>(fileName); |
| 423 | |||
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2 | SO3Smooth_t c_txt, c_xml, c_binary; |
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2 | c_txt.loadFromText<SO3Smooth_t>(fileName + ".txt"); |
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2 | c_xml.loadFromXML<SO3Smooth_t>(fileName + ".xml", "constant"); |
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2 | c_binary.loadFromBinary<SO3Smooth_t>(fileName); |
| 428 | |||
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2 | BOOST_CHECK(c == c_txt); |
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2 | BOOST_CHECK(c == c_xml); |
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2 | BOOST_CHECK(c == c_binary); |
| 432 | 2 | } | |
| 433 | |||
| 434 | BOOST_AUTO_TEST_SUITE_END() | ||
| 435 | |||
| 436 | // #endif // CURVES_WITH_PINOCCHIO_SUPPORT | ||
| 437 |