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// |
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// Copyright (c) 2019-2020 INRIA CNRS |
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// |
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#include <pinocchio/math/quaternion.hpp> |
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#include <pinocchio/spatial/se3.hpp> |
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#include <boost/variant.hpp> // to avoid C99 warnings |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_assignQuaternion) |
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{ |
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using namespace pinocchio; |
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const int max_tests = 1e5; |
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for (int k = 0; k < max_tests; ++k) |
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{ |
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const SE3 M(SE3::Random()); |
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SE3::Quaternion quat_ref(M.rotation()); |
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SE3::Quaternion quat; |
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quaternion::assignQuaternion(quat, M.rotation()); |
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BOOST_CHECK(quat.coeffs().isApprox(quat_ref.coeffs())); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_uniformRandom) |
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{ |
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srand(0); |
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using namespace pinocchio; |
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Eigen::Quaternion<double> q; |
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for (int i = 0; i < (1 << 10); ++i) |
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{ |
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quaternion::uniformRandom(q); |
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BOOST_CHECK_MESSAGE( |
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(q.coeffs().array().abs() <= 1).all(), |
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"Quaternion coeffs out of bounds: " << i << ' ' << q.coeffs().transpose()); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_isNormalized) |
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{ |
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srand(0); |
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using namespace pinocchio; |
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typedef Eigen::Quaternion<double> Quaternion; |
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typedef Quaternion::Coefficients Vector4; |
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#ifdef NDEBUG |
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const int max_test = 1e6; |
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#else |
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const int max_test = 1e2; |
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#endif |
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for (int i = 0; i < max_test; ++i) |
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{ |
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Quaternion q; |
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q.coeffs() = Vector4::Random() + Vector4::Constant(2); |
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BOOST_CHECK(!quaternion::isNormalized(q)); |
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q.normalize(); |
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BOOST_CHECK(quaternion::isNormalized(q)); |
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} |
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// Specific check for the Zero vector |
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BOOST_CHECK(!quaternion::isNormalized(Quaternion(Vector4::Zero()))); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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