123 lines
2.5 KiB
C++
123 lines
2.5 KiB
C++
#include <sstream>
|
|
#include <gtest/gtest.h>
|
|
#include <wrmath/geom/quaternion.h>
|
|
|
|
using namespace std;
|
|
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);
|
|
geom::Quaterniond expected(geom::Vector3d{-9.0, -2.0, 11.0}, 8.0);
|
|
|
|
EXPECT_EQ(p * q, expected);
|
|
}
|
|
|
|
|
|
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, Addition)
|
|
{
|
|
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{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(Quaternionf, Norm)
|
|
{
|
|
geom::Quaternionf p(geom::Vector3f {0.9899139811480784, 9.387110042325054, 6.161341707794767},
|
|
5.563199889674063);
|
|
float norm = 12.57016663729933;
|
|
|
|
EXPECT_FLOAT_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(Quaternionf, Identity)
|
|
{
|
|
geom::Quaternionf p(geom::Vector3f {1.0, -2.0, 1.0}, 3.0);
|
|
geom::Quaternionf q;
|
|
|
|
EXPECT_EQ(p * q, p);
|
|
}
|
|
|
|
|
|
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)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|