Directory: | ./ |
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File: | tests/math/matrix-homogeneous.cpp |
Date: | 2024-08-13 12:13:25 |
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Lines: | 59 | 59 | 100.0% |
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1 | // Copyright 2011 Florent Lamiraux | ||
2 | |||
3 | #include <sstream> | ||
4 | |||
5 | #define BOOST_TEST_MODULE matrix_homogeneous | ||
6 | |||
7 | #include <boost/math/constants/constants.hpp> | ||
8 | #include <boost/test/floating_point_comparison.hpp> | ||
9 | #include <boost/test/output_test_stream.hpp> | ||
10 | #include <boost/test/unit_test.hpp> | ||
11 | #include <sot/core/matrix-geometry.hh> | ||
12 | |||
13 | using boost::math::constants::pi; | ||
14 | using boost::test_tools::output_test_stream; | ||
15 | |||
16 | namespace dg = dynamicgraph; | ||
17 | |||
18 | #define MATRIX_BOOST_REQUIRE_CLOSE(N, M, LEFT, RIGHT, TOLERANCE) \ | ||
19 | for (unsigned i = 0; i < N; ++i) \ | ||
20 | for (unsigned j = 0; j < M; ++j) \ | ||
21 | BOOST_REQUIRE_CLOSE(LEFT(i, j), RIGHT(i, j), TOLERANCE) | ||
22 | |||
23 | #define MATRIX_4x4_BOOST_REQUIRE_CLOSE(LEFT, RIGHT, TOLERANCE) \ | ||
24 | MATRIX_BOOST_REQUIRE_CLOSE(4, 4, LEFT, RIGHT, TOLERANCE) | ||
25 | |||
26 | #define MATRIX_IDENTITY_4x4_REQUIRE_CLOSE(M, TOLERANCE) \ | ||
27 | for (unsigned i = 0; i < 4; ++i) \ | ||
28 | for (unsigned j = 0; j < 4; ++j) \ | ||
29 | if (i == j) \ | ||
30 | BOOST_REQUIRE_CLOSE(M(i, j), 1., TOLERANCE); \ | ||
31 | else \ | ||
32 | BOOST_CHECK_SMALL(M(i, j), .01 * TOLERANCE) | ||
33 | |||
34 | #define MATRIX_HOMO_INIT(M, tx, ty, tz, roll, pitch, yaw) \ | ||
35 | M(0, 0) = cos(pitch) * cos(yaw); \ | ||
36 | M(0, 1) = sin(roll) * sin(pitch) * cos(yaw) - cos(roll) * sin(yaw); \ | ||
37 | M(0, 2) = cos(roll) * sin(pitch) * cos(yaw) + sin(roll) * sin(yaw); \ | ||
38 | M(0, 3) = tx; \ | ||
39 | M(1, 0) = cos(pitch) * sin(yaw); \ | ||
40 | M(1, 1) = sin(roll) * sin(pitch) * sin(yaw) + cos(roll) * cos(yaw); \ | ||
41 | M(1, 2) = cos(roll) * sin(pitch) * sin(yaw) - sin(roll) * cos(yaw); \ | ||
42 | M(1, 3) = ty; \ | ||
43 | M(2, 0) = -sin(pitch); \ | ||
44 | M(2, 1) = sin(roll) * cos(pitch); \ | ||
45 | M(2, 2) = cos(roll) * cos(pitch); \ | ||
46 | M(2, 3) = tz; \ | ||
47 | M(3, 0) = 0.; \ | ||
48 | M(3, 1) = 0.; \ | ||
49 | M(3, 2) = 0.; \ | ||
50 | M(3, 3) = 1. | ||
51 | |||
52 |
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4 | BOOST_AUTO_TEST_CASE(product) { |
53 |
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2002 | for (unsigned int i = 0; i < 1000; i++) { |
54 | double tx, ty, tz; | ||
55 | double roll, pitch, yaw; | ||
56 |
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2000 | dynamicgraph::sot::MatrixHomogeneous H1; |
57 | 2000 | tx = (10. * rand()) / RAND_MAX - 5.; | |
58 | 2000 | ty = (10. * rand()) / RAND_MAX - 5.; | |
59 | 2000 | tz = (10. * rand()) / RAND_MAX - 5.; | |
60 | 2000 | roll = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
61 | 2000 | pitch = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
62 | 2000 | yaw = (2 * pi<double>() * rand()) / RAND_MAX - pi<double>(); | |
63 |
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2000 | MATRIX_HOMO_INIT(H1, tx, ty, tz, roll, pitch, yaw); |
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2000 | dg::Matrix M1(H1.matrix()); |
65 |
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2000 | dynamicgraph::sot::MatrixHomogeneous H2; |
66 | 2000 | tx = (10. * rand()) / RAND_MAX; | |
67 | 2000 | ty = (10. * rand()) / RAND_MAX - 5.; | |
68 | 2000 | tz = (10. * rand()) / RAND_MAX - 5.; | |
69 | 2000 | roll = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
70 | 2000 | pitch = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
71 | 2000 | yaw = (2 * pi<double>() * rand()) / RAND_MAX - pi<double>(); | |
72 |
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2000 | MATRIX_HOMO_INIT(H2, tx, ty, tz, roll, pitch, yaw); |
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2000 | dg::Matrix M2(H2.matrix()); |
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2000 | dynamicgraph::sot::MatrixHomogeneous H3 = H1 * H2; |
75 |
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2000 | dg::Matrix M3; |
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2000 | M3 = M1 * M2; |
77 | |||
78 |
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42000 | MATRIX_4x4_BOOST_REQUIRE_CLOSE(M3, H3.matrix(), 0.0001); |
79 | 2000 | } | |
80 | 2 | } | |
81 | |||
82 |
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4 | BOOST_AUTO_TEST_CASE(inverse) { |
83 |
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2002 | for (unsigned int i = 0; i < 1000; i++) { |
84 | double tx, ty, tz; | ||
85 | double roll, pitch, yaw; | ||
86 |
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2000 | dynamicgraph::sot::MatrixHomogeneous H1; |
87 | 2000 | tx = (10. * rand()) / RAND_MAX - 5.; | |
88 | 2000 | ty = (10. * rand()) / RAND_MAX - 5.; | |
89 | 2000 | tz = (10. * rand()) / RAND_MAX - 5.; | |
90 | 2000 | roll = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
91 | 2000 | pitch = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
92 | 2000 | yaw = (2 * pi<double>() * rand()) / RAND_MAX - pi<double>(); | |
93 |
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2000 | MATRIX_HOMO_INIT(H1, tx, ty, tz, roll, pitch, yaw); |
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2000 | dynamicgraph::sot::MatrixHomogeneous H2; |
95 | 2000 | tx = (10. * rand()) / RAND_MAX; | |
96 | 2000 | ty = (10. * rand()) / RAND_MAX - 5.; | |
97 | 2000 | tz = (10. * rand()) / RAND_MAX - 5.; | |
98 | 2000 | roll = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
99 | 2000 | pitch = (pi<double>() * rand()) / RAND_MAX - .5 * pi<double>(); | |
100 | 2000 | yaw = (2 * pi<double>() * rand()) / RAND_MAX - pi<double>(); | |
101 |
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2000 | MATRIX_HOMO_INIT(H2, tx, ty, tz, roll, pitch, yaw); |
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2000 | dynamicgraph::sot::MatrixHomogeneous H3 = H1 * H2; |
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2000 | dynamicgraph::sot::MatrixHomogeneous invH1, invH2, invH3; |
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2000 | invH1 = H1.inverse(); |
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2000 | invH2 = H2.inverse(); |
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2000 | invH3 = H3.inverse(); |
107 | |||
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2000 | dynamicgraph::sot::MatrixHomogeneous I4; |
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2000 | dynamicgraph::sot::MatrixHomogeneous P1 = H1 * invH1; |
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2000 | dynamicgraph::sot::MatrixHomogeneous P2 = H2 * invH2; |
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2000 | dynamicgraph::sot::MatrixHomogeneous P3 = H3 * invH3; |
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2000 | dynamicgraph::sot::MatrixHomogeneous P4 = invH2 * invH1; |
113 | |||
114 |
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42000 | MATRIX_IDENTITY_4x4_REQUIRE_CLOSE(P1, 0.0001); |
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42000 | MATRIX_IDENTITY_4x4_REQUIRE_CLOSE(P2, 0.0001); |
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42000 | MATRIX_IDENTITY_4x4_REQUIRE_CLOSE(P3, 0.0001); |
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42000 | MATRIX_4x4_BOOST_REQUIRE_CLOSE(P4, invH3, 0.0001); |
118 | } | ||
119 | 2 | } | |
120 |