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More work on quaternions.

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This commit is contained in:
Kyle Isom
2019-08-05 09:46:08 -07:00
parent 4cf4693088
commit de1c4e6109
3 changed files with 164 additions and 35 deletions
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78
test/quaternion_test.cc
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@@ -1,3 +1,4 @@
#include <sstream>
#include <gtest/gtest.h>
#include <wrmath/geom/quaternion.h>
@@ -6,6 +7,28 @@ using namespace wr;
TEST(Quaterniond, Addition)
{
geom::Quaterniond p(geom::Vector3d {1.0, -2.0, 1.0}, 3.0);
geom::Quaterniond q(geom::Vector3d {-1.0, 2.0, 3.0}, 2.0);
geom::Quaterniond expected(geom::Vector3d{0.0, 0.0, 4.0}, 5.0);
EXPECT_EQ(p + q, expected);
EXPECT_EQ(expected - q, p);
EXPECT_NE(expected - q, q); // exercise !=
}
TEST(Quaterniond, Norm)
{
geom::Quaterniond p(geom::Vector3d {0.9899139811480784, 9.387110042325054, 6.161341707794767},
5.563199889674063);
double norm = 12.57016663729933;
EXPECT_DOUBLE_EQ(p.norm(), norm);
}
TEST(Quaterniond, Product)
{
geom::Quaterniond p(geom::Vector3d {1.0, -2.0, 1.0}, 3.0);
geom::Quaterniond q(geom::Vector3d {-1.0, 2.0, 3.0}, 2.0);
@@ -15,6 +38,61 @@ TEST(Quaterniond, Addition)
}
TEST(Quaterniond, Identity)
{
geom::Quaterniond p(geom::Vector3d {1.0, -2.0, 1.0}, 3.0);
geom::Quaterniond q;
EXPECT_EQ(p * q, p);
}
TEST(Quaternionf, Norm)
{
geom::Quaternionf p(geom::Vector3f {0.9899139811480784, 9.387110042325054, 6.161341707794767},
5.563199889674063);
float norm = 12.57016663729933;
EXPECT_DOUBLE_EQ(p.norm(), norm);
}
TEST(Quaternionf, Product)
{
geom::Quaternionf p(geom::Vector3f {1.0, -2.0, 1.0}, 3.0);
geom::Quaternionf q(geom::Vector3f {-1.0, 2.0, 3.0}, 2.0);
geom::Quaternionf expected(geom::Vector3f{-9.0, -2.0, 11.0}, 8.0);
EXPECT_EQ(p * q, expected);
}
TEST(QuaternionMiscellaneous, SanityChecks)
{
geom::Vector3d v {1.0, 2.0, 3.0};
double w = 4.0;
geom::Quaterniond p(v, w);
EXPECT_EQ(p.axis(), v);
EXPECT_DOUBLE_EQ(p.angle(), w);
}
TEST(QuaternionMiscellaneous, OutputStream)
{
geom::Quaternionf p(geom::Vector3f {1.0, 2.0, 3.0}, 4.0);
geom::Quaterniond q(geom::Vector3d {1.0, 2.0, 3.0}, 4.0);
stringstream ss;
ss << p;
EXPECT_EQ(ss.str(), "4 + <1, 2, 3>");
ss.str("");
ss << q;
EXPECT_EQ(ss.str(), "4 + <1, 2, 3>");
}
int
main(int argc, char **argv)
{

40
test/vector_test.cc
View File

@@ -26,26 +26,6 @@ TEST(Vector3Miscellaneous, ExtractionOperator3f)
}
TEST(Vector3Miscellaneous, ExtractionOperator4d)
{
geom::Vector4d vec {1.0, 2.0, 3.0, 4.0};
stringstream vecBuffer;
vecBuffer << vec;
EXPECT_EQ(vecBuffer.str(), "<1, 2, 3, 4>");
}
TEST(Vector3Miscellaneous, ExtractionOperator4f)
{
geom::Vector4f vec {1.0, 2.0, 3.0, 4.0};
stringstream vecBuffer;
vecBuffer << vec;
EXPECT_EQ(vecBuffer.str(), "<1, 2, 3, 4>");
}
TEST(Vector3Miscellaneous, SetEpsilon)
{
geom::Vector3f a {1.0, 1.0, 1.0};
@@ -172,12 +152,12 @@ TEST(Vector3FloatTests, ParallelOrthogonalVectors)
}
TEST(Vector4FloatTests, Projections)
TEST(Vector3FloatTests, Projections)
{
geom::Vector4f a {3.009, -6.172, 3.692, -2.510};
geom::Vector4f b {6.404, -9.144, 2.759, 8.718};
geom::Vector4f c {1.9685, -2.8108, 0.8481, 2.6798};
geom::Vector4f d {1.0405, -3.3612, 2.8439, -5.1898};
geom::Vector3f a {4.866769214609107, 6.2356222686140566, 9.140878417029711};
geom::Vector3f b {6.135533104801077, 8.757851406697895, 0.6738031370548048};
geom::Vector3f c {4.843812341655318, 6.9140509888133055, 0.5319465962229454};
geom::Vector3f d {0.02295687295378901, -0.6784287201992489, 8.608931820806765};
ASSERT_EQ(a.projectParallel(b), c);
ASSERT_EQ(a.projectOrthogonal(b), d);
@@ -313,12 +293,12 @@ TEST(Vector3DoubleTests, ParallelOrthogonalVectors)
}
TEST(Vector4DoubleTests, Projections)
TEST(Vector3DoubleTests, Projections)
{
geom::Vector4d a {3.009, -6.172, 3.692, -2.510};
geom::Vector4d b {6.404, -9.144, 2.759, 8.718};
geom::Vector4d c {1.9685, -2.8108, 0.8481, 2.6798};
geom::Vector4d d {1.0405, -3.3612, 2.8439, -5.1898};
geom::Vector3d a {4.866769214609107, 6.2356222686140566, 9.140878417029711};
geom::Vector3d b {6.135533104801077, 8.757851406697895, 0.6738031370548048};
geom::Vector3d c {4.843812341655318, 6.9140509888133055, 0.5319465962229454};
geom::Vector3d d {0.02295687295378901, -0.6784287201992489, 8.608931820806765};
ASSERT_EQ(a.projectParallel(b), c);
ASSERT_EQ(a.projectOrthogonal(b), d);