Directory: | ./ |
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File: | tests/math/matrix-twist.cpp |
Date: | 2024-08-13 12:13:25 |
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Lines: | 74 | 74 | 100.0% |
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1 | // Copyright 2011 Thomas Moulard. | ||
2 | |||
3 | #include <sstream> | ||
4 | |||
5 | #define BOOST_TEST_MODULE matrix_twist | ||
6 | |||
7 | #include <boost/test/floating_point_comparison.hpp> | ||
8 | #include <boost/test/output_test_stream.hpp> | ||
9 | #include <boost/test/unit_test.hpp> | ||
10 | #include <sot/core/matrix-geometry.hh> | ||
11 | |||
12 | using boost::test_tools::output_test_stream; | ||
13 | |||
14 | #define MATRIX_BOOST_REQUIRE_CLOSE(N, M, LEFT, RIGHT, TOLERANCE) \ | ||
15 | for (unsigned i = 0; i < N; ++i) \ | ||
16 | for (unsigned j = 0; j < M; ++j) \ | ||
17 | BOOST_REQUIRE_CLOSE(LEFT(i, j), RIGHT(i, j), TOLERANCE) | ||
18 | |||
19 | #define MATRIX_6x6_BOOST_REQUIRE_CLOSE(LEFT, RIGHT, TOLERANCE) \ | ||
20 | MATRIX_BOOST_REQUIRE_CLOSE(6, 6, LEFT, RIGHT, TOLERANCE) | ||
21 | |||
22 | #define MATRIX_4x4_INIT(M, A00, A01, A02, A03, A10, A11, A12, A13, A20, A21, \ | ||
23 | A22, A23, A30, A31, A32, A33) \ | ||
24 | M(0, 0) = A00, M(0, 1) = A01, M(0, 2) = A02, M(0, 3) = A03; \ | ||
25 | M(1, 0) = A10, M(1, 1) = A11, M(1, 2) = A12, M(1, 3) = A13; \ | ||
26 | M(2, 0) = A20, M(2, 1) = A21, M(2, 2) = A22, M(2, 3) = A23; \ | ||
27 | M(3, 0) = A30, M(3, 1) = A31, M(3, 2) = A32, M(3, 3) = A33 | ||
28 | |||
29 | #define MATRIX_6x6_INIT(M, A00, A01, A02, A03, A04, A05, A10, A11, A12, A13, \ | ||
30 | A14, A15, A20, A21, A22, A23, A24, A25, A30, A31, A32, \ | ||
31 | A33, A34, A35, A40, A41, A42, A43, A44, A45, A50, A51, \ | ||
32 | A52, A53, A54, A55) \ | ||
33 | M(0, 0) = A00, M(0, 1) = A01, M(0, 2) = A02, M(0, 3) = A03, M(0, 4) = A04, \ | ||
34 | M(0, 5) = A05; \ | ||
35 | M(1, 0) = A10, M(1, 1) = A11, M(1, 2) = A12, M(1, 3) = A13, M(1, 4) = A14, \ | ||
36 | M(1, 5) = A15; \ | ||
37 | M(2, 0) = A20, M(2, 1) = A21, M(2, 2) = A22, M(2, 3) = A23, M(2, 4) = A24, \ | ||
38 | M(2, 5) = A25; \ | ||
39 | M(3, 0) = A30, M(3, 1) = A31, M(3, 2) = A32, M(3, 3) = A33, M(3, 4) = A34, \ | ||
40 | M(3, 5) = A35; \ | ||
41 | M(4, 0) = A40, M(4, 1) = A41, M(4, 2) = A42, M(4, 3) = A43, M(4, 4) = A44, \ | ||
42 | M(4, 5) = A45; \ | ||
43 | M(5, 0) = A50, M(5, 1) = A51, M(5, 2) = A52, M(5, 3) = A53, M(5, 4) = A54, \ | ||
44 | M(5, 5) = A55 | ||
45 | |||
46 | // For reminder: | ||
47 | // | ||
48 | // R \in R^3 x R^3 | ||
49 | // M = [R ; t] \in R^4 x R^4 | ||
50 | // [0 ; 1] | ||
51 | // | ||
52 | // Twist(M) = [R ; t^ R] \in R^6 x R^6 | ||
53 | // [0 ; R] | ||
54 | // | ||
55 | // t^ R \in R^3xR^3 | ||
56 | // | ||
57 | // | ||
58 | // Twist(M)^{-1} = [R^T ; -R^T t^] | ||
59 | // [0 ; R^T ] | ||
60 | |||
61 |
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4 | BOOST_AUTO_TEST_CASE(constructor_trivial_identity) { |
62 |
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2 | dynamicgraph::sot::MatrixHomogeneous M(Eigen::Matrix4d::Identity()); |
63 |
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2 | dynamicgraph::sot::MatrixTwist twist; |
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2 | dynamicgraph::sot::buildFrom(M, twist); |
65 | |||
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2 | dynamicgraph::Matrix twistRef(6, 6); |
67 | |||
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14 | for (unsigned i = 0; i < 6; ++i) |
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84 | for (unsigned j = 0; j < 6; ++j) twistRef(i, j) = (i == j) ? 1. : 0.; |
70 | |||
71 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twist, twistRef, 0.001); |
72 | 2 | } | |
73 | |||
74 |
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4 | BOOST_AUTO_TEST_CASE(constructor_rotation_only) { |
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2 | dynamicgraph::sot::MatrixHomogeneous M; |
76 | |||
77 |
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2 | MATRIX_4x4_INIT(M, 0., 0., 1., 0., 1., 0., 0., 0., 0., -1., 0., 0., 0., 0., |
78 | 0., 1.); | ||
79 |
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2 | dynamicgraph::sot::MatrixTwist twist; |
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2 | dynamicgraph::sot::buildFrom(M, twist); |
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2 | dynamicgraph::Matrix twistRef(6, 6); |
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2 | MATRIX_6x6_INIT(twistRef, 0., 0., 1., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., |
83 | -1., 0., 0., 0., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 1., | ||
84 | 0., 0., 0., 0., 0., 0., -1., 0.); | ||
85 | |||
86 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twist, twistRef, 0.001); |
87 | 2 | } | |
88 | |||
89 |
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4 | BOOST_AUTO_TEST_CASE(constructor_translation_only) { |
90 |
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2 | dynamicgraph::sot::MatrixHomogeneous M; |
91 | |||
92 | 2 | double tx = 11.; | |
93 | 2 | double ty = 22.; | |
94 | 2 | double tz = 33.; | |
95 | |||
96 |
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2 | MATRIX_4x4_INIT(M, 1., 0., 0., tx, 0., 1., 0., ty, 0., 0., 1., tz, 0., 0., 0., |
97 | 1.); | ||
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2 | dynamicgraph::sot::MatrixTwist twist; |
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2 | dynamicgraph::sot::buildFrom(M, twist); |
100 | |||
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2 | dynamicgraph::Matrix twistRef(6, 6); |
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2 | MATRIX_6x6_INIT(twistRef, 1., 0., 0., 0., -tz, ty, 0., 1., 0., tz, 0., -tx, |
103 | 0., 0., 1., -ty, tx, 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., | ||
104 | 0., 1., 0., 0., 0., 0., 0., 0., 1.); | ||
105 | |||
106 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twist, twistRef, 0.001); |
107 | 2 | } | |
108 | |||
109 |
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4 | BOOST_AUTO_TEST_CASE(constructor_rotation_translation) { |
110 |
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2 | dynamicgraph::sot::MatrixHomogeneous M; |
111 | |||
112 | 2 | double tx = 11.; | |
113 | 2 | double ty = 22.; | |
114 | 2 | double tz = 33.; | |
115 | |||
116 |
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2 | MATRIX_4x4_INIT(M, 0., 0., 1., tx, 0., -1., 0., ty, 1., 0., 0., tz, 0., 0., |
117 | 0., 1.); | ||
118 |
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2 | dynamicgraph::sot::MatrixTwist twist; |
119 |
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2 | dynamicgraph::sot::buildFrom(M, twist); |
120 | |||
121 |
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2 | dynamicgraph::Matrix twistRef(6, 6); |
122 |
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2 | MATRIX_6x6_INIT(twistRef, 0., 0., 1., ty, tz, 0., 0., -1., 0., -tx, 0., tz, |
123 | 1., 0., 0., 0., -tx, -ty, 0., 0., 0., 0., 0., 1., 0., 0., 0., | ||
124 | 0., -1., 0., 0., 0., 0., 1., 0., 0.); | ||
125 | |||
126 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twist, twistRef, 0.001); |
127 | 2 | } | |
128 | |||
129 |
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4 | BOOST_AUTO_TEST_CASE(inverse_translation_only) { |
130 |
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2 | dynamicgraph::sot::MatrixHomogeneous M; |
131 | |||
132 | 2 | double tx = 11.; | |
133 | 2 | double ty = 22.; | |
134 | 2 | double tz = 33.; | |
135 | |||
136 |
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2 | MATRIX_4x4_INIT(M, 1., 0., 0., tx, 0., 1., 0., ty, 0., 0., 1., tz, 0., 0., 0., |
137 | 1.); | ||
138 |
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2 | dynamicgraph::sot::MatrixTwist twist; |
139 |
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2 | dynamicgraph::sot::buildFrom(M, twist); |
140 | |||
141 |
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2 | dynamicgraph::sot::MatrixTwist twistInv(twist.inverse()); |
142 | |||
143 |
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2 | dynamicgraph::sot::MatrixTwist twistInv_; |
144 |
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2 | twistInv_ = twist.inverse(); |
145 | |||
146 |
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2 | dynamicgraph::Matrix twistRef(6, 6); |
147 |
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2 | MATRIX_6x6_INIT(twistRef, 1., 0., 0., 0., tz, -ty, 0., 1., 0., -tz, 0., tx, |
148 | 0., 0., 1., ty, -tx, 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., | ||
149 | 0., 1., 0., 0., 0., 0., 0., 0., 1.); | ||
150 | |||
151 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv, twistRef, 0.001); |
152 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv_, twistRef, 0.001); |
153 | 2 | } | |
154 | |||
155 |
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4 | BOOST_AUTO_TEST_CASE(inverse_translation_rotation) { |
156 |
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2 | dynamicgraph::sot::MatrixHomogeneous M; |
157 | |||
158 | 2 | double tx = 11.; | |
159 | 2 | double ty = 22.; | |
160 | 2 | double tz = 33.; | |
161 | |||
162 |
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2 | MATRIX_4x4_INIT(M, 0., 0., 1., tx, 0., -1., 0., ty, 1., 0., 0., tz, 0., 0., |
163 | 0., 1.); | ||
164 |
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2 | dynamicgraph::sot::MatrixTwist twist; |
165 |
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2 | dynamicgraph::sot::buildFrom(M, twist); |
166 | |||
167 |
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2 | dynamicgraph::sot::MatrixTwist twistInv(twist.inverse()); |
168 | |||
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2 | dynamicgraph::sot::MatrixTwist twistInv_; |
170 |
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2 | twistInv_ = twist.inverse(); |
171 | |||
172 |
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2 | dynamicgraph::Matrix twistRef(6, 6); |
173 |
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2 | MATRIX_6x6_INIT(twistRef, 0., 0., 1., ty, -tx, -0., 0., -1., 0., tz, -0., -tx, |
174 | 1., 0., 0., -0., tz, -ty, 0., 0., 0., 0., 0., 1., 0., 0., 0., | ||
175 | 0., -1., 0., 0., 0., 0., 1., 0., 0.); | ||
176 | |||
177 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv, twistRef, 0.001); |
178 |
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86 | MATRIX_6x6_BOOST_REQUIRE_CLOSE(twistInv_, twistRef, 0.001); |
179 | 2 | } | |
180 |