| #include <gtest/gtest.h> |
| #include <Base/Exception.h> |
| #include <Base/Matrix.h> |
| #include <Base/Rotation.h> |
|
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|
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| |
| TEST(Rotation, TestNonUniformScaleLeft) |
| { |
| Base::Rotation rot; |
| rot.setYawPitchRoll(45.0, 0.0, 0.0); |
|
|
| Base::Matrix4D mat; |
| rot.getValue(mat); |
|
|
| Base::Matrix4D scale; |
| scale.scale(1.0, std::sqrt(3.0), 1.0); |
|
|
| Base::Rotation scaled_rot(scale * mat); |
|
|
| rot.setYawPitchRoll(60.0, 0.0, 0.0); |
| EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true); |
| EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true); |
| } |
|
|
| TEST(Rotation, TestNonUniformScaleRight) |
| { |
| Base::Rotation rot; |
| rot.setYawPitchRoll(20.0, 0.0, 0.0); |
|
|
| Base::Matrix4D mat; |
| rot.getValue(mat); |
|
|
| Base::Matrix4D scale; |
| scale.scale(2.0, 3.0, 4.0); |
|
|
| Base::Rotation scaled_rot(mat * scale); |
|
|
| EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true); |
| EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true); |
| } |
|
|
| TEST(Rotation, TestUniformScaleGT1) |
| { |
| Base::Rotation rot; |
| rot.setYawPitchRoll(20.0, 0.0, 0.0); |
|
|
| Base::Matrix4D mat; |
| rot.getValue(mat); |
|
|
| Base::Matrix4D scale; |
| scale.scale(3.0, 3.0, 3.0); |
|
|
| Base::Rotation scaled_rot(mat * scale); |
|
|
| EXPECT_EQ(scaled_rot.isSame(rot, 1.0e-7), true); |
| EXPECT_EQ(rot.isSame(scaled_rot, 1.0e-7), true); |
| } |
|
|
| TEST(Rotation, TestUniformScaleLT1) |
| { |
| Base::Matrix4D mat; |
| mat.scale(0.5); |
|
|
| Base::Rotation scaled_rot(mat); |
|
|
| EXPECT_EQ(scaled_rot.isSame(scaled_rot, 1.0e-7), true); |
| } |
|
|
| TEST(Rotation, TestRotationDecompose) |
| { |
| Base::Matrix4D mat; |
| mat.setCol(0, Base::Vector3d {1, 0, 0}); |
| mat.setCol(1, Base::Vector3d {1, 1, 0}); |
| mat.setCol(2, Base::Vector3d {0, 0, 1}); |
|
|
| |
| EXPECT_TRUE(Base::Rotation {mat}.isIdentity()); |
| } |
| |
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|
