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// |
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// Copyright (c) 2019-2020 INRIA |
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// |
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#include <iostream> |
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#include <pinocchio/math/rotation.hpp> |
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#include <pinocchio/math/sincos.hpp> |
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#include <Eigen/Geometry> |
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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_toRotationMatrix) |
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{ |
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using namespace pinocchio; |
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#ifndef NDEBUG |
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const int max_tests = 1e5; |
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#else |
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const int max_tests = 1e2; |
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#endif |
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for (int k = 0; k < max_tests; ++k) |
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{ |
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const double theta = std::rand(); |
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double cos_value, sin_value; |
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pinocchio::SINCOS(theta, &sin_value, &cos_value); |
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const Eigen::Vector3d axis(Eigen::Vector3d::Random().normalized()); |
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Eigen::Matrix3d rot; |
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toRotationMatrix(axis, cos_value, sin_value, rot); |
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Eigen::Matrix3d rot2; |
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toRotationMatrix(axis, theta, rot2); |
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const Eigen::Matrix3d rot_ref = Eigen::AngleAxisd(theta, axis).toRotationMatrix(); |
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BOOST_CHECK(rot.isApprox(rot_ref)); |
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BOOST_CHECK(rot2.isApprox(rot_ref)); |
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} |
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} |
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BOOST_AUTO_TEST_CASE(test_orthogonal_projection) |
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{ |
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using namespace pinocchio; |
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#ifndef NDEBUG |
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const int max_tests = 1e5; |
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#else |
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const int max_tests = 1e2; |
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#endif |
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typedef Eigen::Vector4d Vector4; |
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typedef Eigen::Quaterniond Quaternion; |
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typedef Eigen::Matrix3d Matrix3; |
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for (int k = 0; k < max_tests; ++k) |
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{ |
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const Vector4 vec4 = Vector4::Random(); |
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const Quaternion quat(vec4.normalized()); |
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const Matrix3 rot = quat.toRotationMatrix(); |
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Matrix3 rot_proj = orthogonalProjection(rot); |
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BOOST_CHECK(rot.isApprox(rot_proj)); |
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} |
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for (int k = 0; k < max_tests; ++k) |
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{ |
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const Matrix3 mat = Matrix3::Random(); |
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Matrix3 rot_proj = orthogonalProjection(mat); |
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BOOST_CHECK((rot_proj.transpose() * rot_proj).isIdentity()); |
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BOOST_CHECK(fabs(rot_proj.determinant() - 1.) <= Eigen::NumTraits<double>::dummy_precision()); |
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} |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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