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Document and refactor geom code.

Browse Source 
- Doxygenate headers.
- Rename to bring methods and functions in line with everything else.
This commit is contained in:
Kyle Isom
2023-10-20 20:45:39 -07:00
parent 4b1007123a
commit 6a421d6adf
27 changed files with 802 additions and 680 deletions
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12
test/coord2d.cc
View File

@@ -90,6 +90,18 @@ geomConversionIdentities()
SCTEST_CHECK(point == points.at(i));
}
Point2D point(3, 5);
Point2D point2;
Polar2D polar;
Polar2D polar2;
point.ToPolar(polar);
polar.ToPoint(point2);
SCTEST_CHECK_EQ(point, point2);
point2.ToPolar(polar2);
SCTEST_CHECK_EQ(polar, polar2);
return true;
}

38
test/madgwick.cc
View File

@@ -20,8 +20,8 @@ using namespace scmp;
bool
SimpleAngularOrientationFloat()
{
filter::Madgwickf mflt;
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
filter::Madgwickf mflt;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
@@ -47,8 +47,8 @@ SimpleAngularOrientationFloat()
bool
SimpleAngularOrientationFloatDefaultDT()
{
filter::Madgwickf mflt;
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
filter::Madgwickf mflt;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
@@ -75,8 +75,8 @@ SimpleAngularOrientationFloatDefaultDT()
bool
VerifyUpdateWithZeroDeltaTFails()
{
filter::Madgwickf mflt;
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
filter::Madgwickf mflt;
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
@@ -100,8 +100,8 @@ VerifyUpdateWithZeroDeltaTFails()
bool
SimpleAngularOrientationDouble()
{
filter::Madgwickd mflt;
const geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
filter::Madgwickd mflt;
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
const double twentyDegrees = scmp::DegreesToRadiansD(20.0);
@@ -126,9 +126,9 @@ SimpleAngularOrientationDouble()
bool
SimpleAngularOrientation2InitialVector3f()
{
const geom::Vector3f initialFrame{0, 0, 0};
const geom::Vector3F initialFrame{0, 0, 0};
filter::Madgwickf mflt(initialFrame);
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
@@ -153,9 +153,9 @@ SimpleAngularOrientation2InitialVector3f()
bool
SimpleAngularOrientation2InitialQuaternionf()
{
const auto initialFrame = geom::quaternionf_from_euler({0, 0, 0});
const auto initialFrame = geom::QuaternionFromEuler({0, 0, 0});
filter::Madgwickf mflt(initialFrame);
const geom::Vector3f gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const float delta = 0.00917; // assume 109 updates per second, as per the paper.
const float twentyDegrees = scmp::DegreesToRadiansF(20.0);
@@ -180,9 +180,9 @@ SimpleAngularOrientation2InitialQuaternionf()
bool
SimpleAngularOrientation2InitialVector3d()
{
const geom::Vector3d initialFrame{0, 0, 0};
const geom::Vector3D initialFrame{0, 0, 0};
filter::Madgwickd mflt(initialFrame);
const geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
const double twentyDegrees = scmp::DegreesToRadiansD(20.0);
@@ -207,9 +207,9 @@ SimpleAngularOrientation2InitialVector3d()
bool
SimpleAngularOrientation2InitialQuaterniond()
{
const auto initialFrame = geom::quaterniond_from_euler({0, 0, 0});
filter::Madgwickd mflt(initialFrame);
const geom::Vector3d gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const auto initialFrame = geom::QuaternionFromEuler({0, 0, 0});
filter::Madgwickd mflt(initialFrame);
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
const double delta = 0.00917; // assume 109 updates per second, as per the paper.
const double twentyDegrees = scmp::DegreesToRadiansD(20.0);
@@ -266,9 +266,9 @@ main(int argc, char **argv)
SimpleAngularOrientation2InitialVector3f);
suite.AddTest("SimpleAngularOrientationDouble (inital vector3d)",
SimpleAngularOrientation2InitialVector3d);
suite.AddTest("SimpleAngularOrientationFloat (inital quaternionf)",
suite.AddTest("SimpleAngularOrientationFloat (inital MakeQuaternion)",
SimpleAngularOrientation2InitialQuaternionf);
suite.AddTest("SimpleAngularOrientationDouble (inital quaterniond)",
suite.AddTest("SimpleAngularOrientationDouble (inital MakeQuaternion)",
SimpleAngularOrientation2InitialQuaterniond);
delete flags;

10
test/orientation.cc
View File

@@ -45,9 +45,9 @@ UnitConversions_RadiansToDegreesD()
bool
Orientation2f_Heading()
{
geom::Vector2f a{2.0, 2.0};
geom::Vector2F a{2.0, 2.0};
SCTEST_CHECK_FEQ(geom::Heading2f(a), scmp::DegreesToRadiansF(45));
SCTEST_CHECK_FEQ(geom::Heading2F(a), scmp::DegreesToRadiansF(45));
return true;
}
@@ -56,7 +56,7 @@ Orientation2f_Heading()
bool
Orientation3f_Heading()
{
geom::Vector3f a{2.0, 2.0, 2.0};
geom::Vector3F a{2.0, 2.0, 2.0};
SCTEST_CHECK_FEQ(geom::Heading3f(a), scmp::DegreesToRadiansF(45));
@@ -67,7 +67,7 @@ Orientation3f_Heading()
bool
Orientation2d_Heading()
{
geom::Vector2d a{2.0, 2.0};
geom::Vector2D a{2.0, 2.0};
return scmp::WithinTolerance(geom::Heading2d(a), scmp::DegreesToRadiansD(45), 0.000001);
}
@@ -76,7 +76,7 @@ Orientation2d_Heading()
bool
Orientation3d_Heading()
{
geom::Vector3d a{2.0, 2.0, 2.0};
geom::Vector3D a{2.0, 2.0, 2.0};
return scmp::WithinTolerance(geom::Heading3d(a), scmp::DegreesToRadiansD(45), 0.000001);
}

126
test/quaternion.cc
View File

@@ -15,7 +15,7 @@ using namespace sctest;
static bool
Quaternion_SelfTest()
{
geom::Quaternion_SelfTest();
geom::QuaternionSelfTest();
return true;
}
@@ -23,9 +23,9 @@ Quaternion_SelfTest()
static bool
Quaterniond_Addition()
{
geom::Quaterniond p(geom::Vector4d {3.0, 1.0, -2.0, 1.0});
geom::Quaterniond q(geom::Vector4d {2.0, -1.0, 2.0, 3.0});
geom::Quaterniond expected(geom::Vector4d{5.0, 0.0, 0.0, 4.0});
geom::Quaterniond p(geom::Vector4D {3.0, 1.0, -2.0, 1.0});
geom::Quaterniond q(geom::Vector4D {2.0, -1.0, 2.0, 3.0});
geom::Quaterniond expected(geom::Vector4D{5.0, 0.0, 0.0, 4.0});
SCTEST_CHECK_EQ(p + q, expected);
SCTEST_CHECK_EQ(expected - q, p);
@@ -41,7 +41,7 @@ Quaterniond_Conjugate()
geom::Quaterniond p {2.0, 3.0, 4.0, 5.0};
geom::Quaterniond q {2.0, -3.0, -4.0, -5.0};
SCTEST_CHECK_EQ(p.conjugate(), q);
SCTEST_CHECK_EQ(p.Conjugate(), q);
return true;
}
@@ -49,8 +49,9 @@ Quaterniond_Conjugate()
static bool
Quaterniond_Euler()
{
geom::Quaterniond p = geom::quaterniond(geom::Vector3d{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI/4.0);
geom::Quaterniond q = geom::quaterniond_from_euler(p.euler());
geom::Quaterniond p = geom::MakeQuaternion(
geom::Vector3D{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
geom::Quaterniond q = geom::QuaternionFromEuler(p.Euler());
SCTEST_CHECK_EQ(p, q);
@@ -64,7 +65,7 @@ Quaterniond_Identity()
geom::Quaterniond p {3.0, 1.0, -2.0, 1.0};
geom::Quaterniond q;
SCTEST_CHECK(q.isIdentity());
SCTEST_CHECK(q.IsIdentity());
SCTEST_CHECK_EQ(p * q, p);
return true;
@@ -77,7 +78,7 @@ Quaterniond_Inverse()
geom::Quaterniond p {2.0, 3.0, 4.0, 5.0};
geom::Quaterniond q {0.03704, -0.05556, -0.07407, -0.09259};
SCTEST_CHECK_EQ(p.inverse(), q);
SCTEST_CHECK_EQ(p.Inverse(), q);
return true;
}
@@ -89,7 +90,7 @@ Quaterniond_Norm()
geom::Quaterniond p {5.563199889674063, 0.9899139811480784, 9.387110042325054, 6.161341707794767};
double norm = 12.57016663729933;
SCTEST_CHECK_DEQ(p.norm(), norm);
SCTEST_CHECK_DEQ(p.Norm(), norm);
return true;
}
@@ -111,27 +112,27 @@ Quaterniond_Product()
static bool
Quaterniond_Rotate()
{
// This test aims to rotate a vector v using a quaternion.
// This test aims to Rotate a vector v using a MakeQuaternion.
// c.f. https://math.stackexchange.com/questions/40164/how-do-you-rotate-a-vector-by-a-unit-quaternion
// If we assume a standard IMU frame of reference following the
// right hand rule:
// + The x axis points toward magnetic north
// + The y axis points toward magnentic west
// + The z axis points toward the sky
// + The x Axis points toward magnetic north
// + The y Axis points toward magnentic west
// + The z Axis points toward the sky
// Given a vector pointing due north, rotating by 90º about
// the y-axis should leave us pointing toward the sky.
// the y-Axis should leave us pointing toward the sky.
geom::Vector3d v {1.0, 0.0, 0.0}; // a vector pointed north
geom::Vector3d yAxis {0.0, 1.0, 0.0}; // a vector representing the y axis.
double angle = M_PI / 2; // 90º rotation
geom::Vector3D v {1.0, 0.0, 0.0}; // a vector pointed north
geom::Vector3D yAxis {0.0, 1.0, 0.0}; // a vector representing the y Axis.
double angle = M_PI / 2; // 90º rotation
// A quaternion representing a 90º rotation about the y axis.
geom::Quaterniond p = geom::quaterniond(yAxis, angle);
geom::Vector3d vr {0.0, 0.0, 1.0}; // expected rotated vector.
// A MakeQuaternion representing a 90º rotation about the y Axis.
geom::Quaterniond p = geom::MakeQuaternion(yAxis, angle);
geom::Vector3D vr {0.0, 0.0, 1.0}; // expected rotated vector.
// A rotation quaternion should be a unit quaternion.
SCTEST_CHECK(p.isUnitQuaternion());
SCTEST_CHECK_EQ(p.rotate(v), vr);
// A rotation quaternion should be a unit MakeQuaternion.
SCTEST_CHECK(p.IsUnitQuaternion());
SCTEST_CHECK_EQ(p.Rotate(v), vr);
return true;
}
@@ -141,13 +142,13 @@ static bool
Quaterniond_ShortestSLERP()
{
// Our starting point is an Orientation that is yawed 45° - our
// Orientation is pointed π/4 radians in the X axis.
// Orientation is pointed π/4 radians in the X Axis.
geom::Quaterniond p {0.92388, 0.382683, 0, 0};
// Our ending point is an Orientation that is yawed -45° - or
// pointed -π/4 radians in the X axis.
// pointed -π/4 radians in the X Axis.
geom::Quaterniond q {0.92388, -0.382683, 0, 0};
// The halfway point should be oriented midway about the X axis. It turns
// out this is an identity quaternion.
// The halfway point should be oriented midway about the X Axis. It turns
// out this is an identity MakeQuaternion.
geom::Quaterniond r;
SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, 0.0), p);
@@ -185,7 +186,7 @@ Quaterniond_Unit()
{
geom::Quaterniond q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
SCTEST_CHECK(q.isUnitQuaternion());
SCTEST_CHECK(q.IsUnitQuaternion());
return true;
}
@@ -194,9 +195,9 @@ Quaterniond_Unit()
static bool
Quaterniond_UtilityCreator()
{
geom::Vector3d v {1.0, 1.0, 1.0};
double w = M_PI;
geom::Quaterniond p = geom::quaterniond(v, w);
geom::Vector3D v {1.0, 1.0, 1.0};
double w = M_PI;
geom::Quaterniond p = geom::MakeQuaternion(v, w);
geom::Quaterniond q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
SCTEST_CHECK_EQ(p, q);
@@ -226,7 +227,7 @@ Quaternionf_Conjugate()
geom::Quaternionf p {2.0, 3.0, 4.0, 5.0};
geom::Quaternionf q {2.0, -3.0, -4.0, -5.0};
SCTEST_CHECK_EQ(p.conjugate(), q);
SCTEST_CHECK_EQ(p.Conjugate(), q);
return true;
}
@@ -235,8 +236,9 @@ Quaternionf_Conjugate()
static bool
Quaternionf_Euler()
{
geom::Quaternionf p = geom::quaternionf(geom::Vector3f{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI/4.0);
geom::Quaternionf q = geom::quaternionf_from_euler(p.euler());
geom::Quaternionf p = geom::MakeQuaternion(
geom::Vector3F{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
geom::Quaternionf q = geom::QuaternionFromEuler(p.Euler());
SCTEST_CHECK_EQ(p, q);
@@ -262,7 +264,7 @@ Quaternionf_Inverse()
geom::Quaternionf p {2.0, 3.0, 4.0, 5.0};
geom::Quaternionf q {0.03704, -0.05556, -0.07407, -0.09259};
SCTEST_CHECK_EQ(p.inverse(), q);
SCTEST_CHECK_EQ(p.Inverse(), q);
return true;
}
@@ -274,7 +276,7 @@ Quaternionf_Norm()
geom::Quaternionf p {0.9899139811480784, 9.387110042325054, 6.161341707794767, 5.563199889674063};
float norm = 12.57016663729933;
SCTEST_CHECK_FEQ(p.norm(), norm);
SCTEST_CHECK_FEQ(p.Norm(), norm);
return true;
}
@@ -296,15 +298,15 @@ Quaternionf_Product()
static bool
Quaternionf_Rotate()
{
geom::Vector3f v {1.0, 0.0, 0.0};
geom::Vector3f yAxis {0.0, 1.0, 0.0};
float angle = M_PI / 2;
geom::Vector3F v {1.0, 0.0, 0.0};
geom::Vector3F yAxis {0.0, 1.0, 0.0};
float angle = M_PI / 2;
geom::Quaternionf p = geom::quaternionf(yAxis, angle);
geom::Vector3f vr {0.0, 0.0, 1.0};
geom::Quaternionf p = geom::MakeQuaternion(yAxis, angle);
geom::Vector3F vr {0.0, 0.0, 1.0};
SCTEST_CHECK(p.isUnitQuaternion());
SCTEST_CHECK_EQ(p.rotate(v), vr);
SCTEST_CHECK(p.IsUnitQuaternion());
SCTEST_CHECK_EQ(p.Rotate(v), vr);
return true;
}
@@ -314,13 +316,13 @@ static bool
Quaternionf_ShortestSLERP()
{
// Our starting point is an Orientation that is yawed 45° - our
// Orientation is pointed π/4 radians in the X axis.
// Orientation is pointed π/4 radians in the X Axis.
geom::Quaternionf p {0.92388, 0.382683, 0, 0};
// Our ending point is an Orientation that is yawed -45° - or
// pointed -π/4 radians in the X axis.
// pointed -π/4 radians in the X Axis.
geom::Quaternionf q {0.92388, -0.382683, 0, 0};
// The halfway point should be oriented midway about the X axis. It turns
// out this is an identity quaternion.
// The halfway point should be oriented midway about the X Axis. It turns
// out this is an identity MakeQuaternion.
geom::Quaternionf r;
SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, (float)0.0), p);
@@ -358,7 +360,7 @@ Quaternionf_Unit()
{
geom::Quaternionf q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
SCTEST_CHECK(q.isUnitQuaternion());
SCTEST_CHECK(q.IsUnitQuaternion());
return true;
}
@@ -367,9 +369,9 @@ Quaternionf_Unit()
static bool
Quaternionf_UtilityCreator()
{
geom::Vector3f v {1.0, 1.0, 1.0};
float w = M_PI;
geom::Quaternionf p = geom::quaternionf(v, w);
geom::Vector3F v {1.0, 1.0, 1.0};
float w = M_PI;
geom::Quaternionf p = geom::MakeQuaternion(v, w);
geom::Quaternionf q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
SCTEST_CHECK_EQ(p, q);
@@ -381,15 +383,15 @@ Quaternionf_UtilityCreator()
static bool
QuaternionMiscellaneous_SanityChecks()
{
geom::Vector4d q {4.0, 1.0, 2.0, 3.0};
geom::Vector3d v {1.0, 2.0, 3.0};
double w = 4.0;
geom::Vector4D q {4.0, 1.0, 2.0, 3.0};
geom::Vector3D v {1.0, 2.0, 3.0};
double w = 4.0;
geom::Quaterniond p(q);
geom::Quaterniond u = p.unitQuaternion();
geom::Quaterniond u = p.UnitQuaternion();
SCTEST_CHECK_EQ(p.axis(), v);
SCTEST_CHECK_DEQ(p.angle(), w);
SCTEST_CHECK(u.isUnitQuaternion());
SCTEST_CHECK_EQ(p.Axis(), v);
SCTEST_CHECK_DEQ(p.Angle(), w);
SCTEST_CHECK(u.IsUnitQuaternion());
return true;
}
@@ -417,10 +419,10 @@ static bool
QuaternionMiscellanous_InitializerConstructor()
{
geom::Quaternionf p {1.0, 1.0, 1.0, 1.0};
geom::Quaternionf q(geom::Vector4f {1.0, 1.0, 1.0, 1.0});
geom::Quaternionf q(geom::Vector4F {1.0, 1.0, 1.0, 1.0});
SCTEST_CHECK_EQ(p, q);
SCTEST_CHECK_FEQ(p.norm(), (float)2.0);
SCTEST_CHECK_FEQ(p.Norm(), (float)2.0);
return true;
}
@@ -449,7 +451,7 @@ main(int argc, char *argv[])
suite.Silence();
}
suite.AddTest("Quaternion_SelfTest", Quaternion_SelfTest);
suite.AddTest("QuaternionSelfTest", Quaternion_SelfTest);
suite.AddTest("QuaternionMiscellanous_InitializerConstructor",
QuaternionMiscellanous_InitializerConstructor);
suite.AddTest("QuaternionMiscellaneous_SanityChecks",

2
test/tlv.cc
View File

@@ -40,7 +40,7 @@ tlvTestSuite(Arena &backend)
sctest::Assert(cursor != nullptr);
cursor = nullptr;
// the cursor should point at the next record,
// the cursor should point At the next record,
// and rec4 should contain the same data as rec1.
std::cout << "\tFindTag 1" << "\n";
cursor = TLV::FindTag(backend, cursor, rec4);

248
test/vector.cc
View File

@@ -11,7 +11,7 @@
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// You may obtain a copy of the License At
//
// http://www.apache.org/licenses/LICENSE-2.0
//
@@ -37,8 +37,8 @@ using namespace std;
static bool
Vector3Miscellaneous_ExtractionOperator3d()
{
geom::Vector3d vec {1.0, 2.0, 3.0};
stringstream vecBuffer;
geom::Vector3D vec {1.0, 2.0, 3.0};
stringstream vecBuffer;
vecBuffer << vec;
SCTEST_CHECK_EQ(vecBuffer.str(), "<1, 2, 3>");
@@ -49,8 +49,8 @@ Vector3Miscellaneous_ExtractionOperator3d()
static bool
Vector3Miscellaneous_ExtractionOperator3f()
{
geom::Vector3f vec {1.0, 2.0, 3.0};
stringstream vecBuffer;
geom::Vector3F vec {1.0, 2.0, 3.0};
stringstream vecBuffer;
vecBuffer << vec;
SCTEST_CHECK_EQ(vecBuffer.str(), "<1, 2, 3>");
@@ -60,10 +60,10 @@ Vector3Miscellaneous_ExtractionOperator3f()
static bool
Vector3Miscellaneous_SetEpsilon() {
geom::Vector3f a {1.0, 1.0, 1.0};
geom::Vector3f b;
geom::Vector3F a {1.0, 1.0, 1.0};
geom::Vector3F b;
a.setEpsilon(1.1);
a.SetEpsilon(1.1);
SCTEST_CHECK_EQ(a, b);
return true;
}
@@ -72,10 +72,10 @@ Vector3Miscellaneous_SetEpsilon() {
static bool
Vector3FloatTests_Magnitude()
{
geom::Vector3f v3f {1.0, -2.0, 3.0};
const float expected = 3.74165738677394;
geom::Vector3F v3f {1.0, -2.0, 3.0};
const float expected = 3.74165738677394;
SCTEST_CHECK_FEQ(v3f.magnitude(), expected);
SCTEST_CHECK_FEQ(v3f.Magnitude(), expected);
return true;
}
@@ -84,9 +84,9 @@ Vector3FloatTests_Magnitude()
static bool
Vector3FloatTests_Equality()
{
geom::Vector3f a {1.0, 2.0, 3.0};
geom::Vector3f b {1.0, 2.0, 3.0};
geom::Vector3f c {1.0, 2.0, 1.0};
geom::Vector3F a {1.0, 2.0, 3.0};
geom::Vector3F b {1.0, 2.0, 3.0};
geom::Vector3F c {1.0, 2.0, 1.0};
SCTEST_CHECK_EQ(a, b);
SCTEST_CHECK_EQ(b, a);
@@ -100,9 +100,9 @@ Vector3FloatTests_Equality()
static bool
Vector3FloatTests_Addition()
{
geom::Vector3f a {1.0, 2.0, 3.0};
geom::Vector3f b {4.0, 5.0, 6.0};
geom::Vector3f expected {5.0, 7.0, 9.0};
geom::Vector3F a {1.0, 2.0, 3.0};
geom::Vector3F b {4.0, 5.0, 6.0};
geom::Vector3F expected {5.0, 7.0, 9.0};
SCTEST_CHECK_EQ(a+b, expected);
@@ -113,9 +113,9 @@ Vector3FloatTests_Addition()
static bool
Vector3FloatTests_Subtraction()
{
geom::Vector3f a {1.0, 2.0, 3.0};
geom::Vector3f b {4.0, 5.0, 6.0};
geom::Vector3f c {5.0, 7.0, 9.0};
geom::Vector3F a {1.0, 2.0, 3.0};
geom::Vector3F b {4.0, 5.0, 6.0};
geom::Vector3F c {5.0, 7.0, 9.0};
SCTEST_CHECK_EQ(c-b, a);
@@ -126,8 +126,8 @@ Vector3FloatTests_Subtraction()
static bool
Vector3FloatTests_ScalarMultiplication()
{
geom::Vector3f a {1.0, 2.0, 3.0};
geom::Vector3f expected {3.0, 6.0, 9.0};
geom::Vector3F a {1.0, 2.0, 3.0};
geom::Vector3F expected {3.0, 6.0, 9.0};
SCTEST_CHECK_EQ(a * 3.0, expected);
@@ -138,8 +138,8 @@ Vector3FloatTests_ScalarMultiplication()
static bool
Vector3FloatTests_ScalarDivision()
{
geom::Vector3f a {1.0, 2.0, 3.0};
geom::Vector3f b {3.0, 6.0, 9.0};
geom::Vector3F a {1.0, 2.0, 3.0};
geom::Vector3F b {3.0, 6.0, 9.0};
SCTEST_CHECK_EQ(b / 3.0, a);
@@ -150,8 +150,8 @@ Vector3FloatTests_ScalarDivision()
static bool
Vector3FloatTests_DotProduct()
{
geom::Vector3f a {1.0, 2.0, 3.0};
geom::Vector3f b {4.0, 5.0, 6.0};
geom::Vector3F a {1.0, 2.0, 3.0};
geom::Vector3F b {4.0, 5.0, 6.0};
SCTEST_CHECK_FEQ(a * b, (float)32.0);
@@ -162,14 +162,14 @@ static bool
Vector3FloatTests_UnitVector()
{
// Test values randomly generated and calculated with numpy.
geom::Vector3f vec3 {5.320264018493507, 5.6541812891273935, 1.9233435162644652};
geom::Vector3f unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
geom::Vector3f unit2;
geom::Vector3F vec3 {5.320264018493507, 5.6541812891273935, 1.9233435162644652};
geom::Vector3F unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
geom::Vector3F unit2;
SCTEST_CHECK_EQ(vec3.unitVector(), unit);
SCTEST_CHECK_FALSE(vec3.isUnitVector());
SCTEST_CHECK(unit.isUnitVector());
SCTEST_CHECK(unit2.isUnitVector());
SCTEST_CHECK_EQ(vec3.UnitVector(), unit);
SCTEST_CHECK_FALSE(vec3.IsUnitVector());
SCTEST_CHECK(unit.IsUnitVector());
SCTEST_CHECK(unit2.IsUnitVector());
return true;
}
@@ -177,13 +177,13 @@ Vector3FloatTests_UnitVector()
static bool
Vector3FloatTests_Angle()
{
geom::Vector3f a {0.3977933061361172, 8.053980094436525, 8.1287759943773};
geom::Vector3f b {9.817895298608196, 4.034166890407462, 4.37628316513266};
geom::Vector3f c {7.35, 0.221, 5.188};
geom::Vector3f d {2.751, 8.259, 3.985};
geom::Vector3F a {0.3977933061361172, 8.053980094436525, 8.1287759943773};
geom::Vector3F b {9.817895298608196, 4.034166890407462, 4.37628316513266};
geom::Vector3F c {7.35, 0.221, 5.188};
geom::Vector3F d {2.751, 8.259, 3.985};
SCTEST_CHECK_FEQ(a.angle(b), (float)0.9914540426033251);
if (!scmp::WithinTolerance(c.angle(d), (float)1.052, (float)0.001)) {
SCTEST_CHECK_FEQ(a.Angle(b), (float)0.9914540426033251);
if (!scmp::WithinTolerance(c.Angle(d), (float)1.052, (float)0.001)) {
return false;
}
@@ -194,26 +194,26 @@ Vector3FloatTests_Angle()
static bool
Vector3FloatTests_ParallelOrthogonalVectors()
{
geom::Vector3f a {-2.029, 9.97, 4.172};
geom::Vector3f b {-9.231, -6.639, -7.245};
geom::Vector3f c {-2.328, -7.284, -1.214};
geom::Vector3f d {-1.821, 1.072, -2.94};
geom::Vector3f e {-2.0, 1.0, 3.0};
geom::Vector3f f {-6.0, 3.0, 9.0};
geom::Vector3f zeroVector {0.0, 0.0, 0.0};
geom::Vector3F a {-2.029, 9.97, 4.172};
geom::Vector3F b {-9.231, -6.639, -7.245};
geom::Vector3F c {-2.328, -7.284, -1.214};
geom::Vector3F d {-1.821, 1.072, -2.94};
geom::Vector3F e {-2.0, 1.0, 3.0};
geom::Vector3F f {-6.0, 3.0, 9.0};
geom::Vector3F zeroVector {0.0, 0.0, 0.0};
SCTEST_CHECK_FALSE(a.isParallel(b));
SCTEST_CHECK_FALSE(a.isOrthogonal(b));
SCTEST_CHECK_FALSE(a.IsParallel(b));
SCTEST_CHECK_FALSE(a.IsOrthogonal(b));
SCTEST_CHECK_FALSE(c.isParallel(d));
SCTEST_CHECK(c.isOrthogonal(d));
SCTEST_CHECK_FALSE(c.IsParallel(d));
SCTEST_CHECK(c.IsOrthogonal(d));
SCTEST_CHECK(e.isParallel(f));
SCTEST_CHECK_FALSE(e.isOrthogonal(f));
SCTEST_CHECK(e.IsParallel(f));
SCTEST_CHECK_FALSE(e.IsOrthogonal(f));
SCTEST_CHECK(zeroVector.isZero());
SCTEST_CHECK(c.isParallel(zeroVector));
SCTEST_CHECK(c.isOrthogonal(zeroVector));
SCTEST_CHECK(zeroVector.IsZero());
SCTEST_CHECK(c.IsParallel(zeroVector));
SCTEST_CHECK(c.IsOrthogonal(zeroVector));
return true;
}
@@ -222,13 +222,13 @@ Vector3FloatTests_ParallelOrthogonalVectors()
static bool
Vector3FloatTests_Projections()
{
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};
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};
SCTEST_CHECK_EQ(a.projectParallel(b), c);
SCTEST_CHECK_EQ(a.projectOrthogonal(b), d);
SCTEST_CHECK_EQ(a.ProjectParallel(b), c);
SCTEST_CHECK_EQ(a.ProjectOrthogonal(b), d);
return true;
}
@@ -237,12 +237,12 @@ Vector3FloatTests_Projections()
static bool
Vector3FloatTests_CrossProduct()
{
geom::Vector3f a {8.462, 7.893, -8.187};
geom::Vector3f b {6.984, -5.975, 4.778};
geom::Vector3f c {-11.2046, -97.6094, -105.685};
geom::Vector3F a {8.462, 7.893, -8.187};
geom::Vector3F b {6.984, -5.975, 4.778};
geom::Vector3F c {-11.2046, -97.6094, -105.685};
c.setEpsilon(0.001);
SCTEST_CHECK_EQ(c, a.cross(b));
c.SetEpsilon(0.001);
SCTEST_CHECK_EQ(c, a.Cross(b));
return true;
}
@@ -251,10 +251,10 @@ Vector3FloatTests_CrossProduct()
static bool
Vector3DoubleTests_Magnitude()
{
geom::Vector3d v3d{1.0, -2.0, 3.0};
const double expected = 3.74165738677394;
geom::Vector3D v3d{1.0, -2.0, 3.0};
const double expected = 3.74165738677394;
SCTEST_CHECK_DEQ(v3d.magnitude(), expected);
SCTEST_CHECK_DEQ(v3d.Magnitude(), expected);
return true;
}
@@ -262,9 +262,9 @@ Vector3DoubleTests_Magnitude()
static bool
Vector3DoubleTests_Equality()
{
geom::Vector3d a {1.0, 2.0, 3.0};
geom::Vector3d b {1.0, 2.0, 3.0};
geom::Vector3d c {1.0, 2.0, 1.0};
geom::Vector3D a {1.0, 2.0, 3.0};
geom::Vector3D b {1.0, 2.0, 3.0};
geom::Vector3D c {1.0, 2.0, 1.0};
SCTEST_CHECK_EQ(a, b);
SCTEST_CHECK_EQ(b, a);
@@ -278,9 +278,9 @@ Vector3DoubleTests_Equality()
static bool
Vector3DoubleTests_Addition()
{
geom::Vector3d a {1.0, 2.0, 3.0};
geom::Vector3d b {4.0, 5.0, 6.0};
geom::Vector3d expected {5.0, 7.0, 9.0};
geom::Vector3D a {1.0, 2.0, 3.0};
geom::Vector3D b {4.0, 5.0, 6.0};
geom::Vector3D expected {5.0, 7.0, 9.0};
SCTEST_CHECK_EQ(a+b, expected);
@@ -291,9 +291,9 @@ Vector3DoubleTests_Addition()
static bool
Vector3DoubleTests_Subtraction()
{
geom::Vector3d a {1.0, 2.0, 3.0};
geom::Vector3d b {4.0, 5.0, 6.0};
geom::Vector3d c {5.0, 7.0, 9.0};
geom::Vector3D a {1.0, 2.0, 3.0};
geom::Vector3D b {4.0, 5.0, 6.0};
geom::Vector3D c {5.0, 7.0, 9.0};
SCTEST_CHECK_EQ(c-b, a);
@@ -304,8 +304,8 @@ Vector3DoubleTests_Subtraction()
static bool
Vector3DoubleTests_ScalarMultiplication()
{
geom::Vector3d a {1.0, 2.0, 3.0};
geom::Vector3d expected {3.0, 6.0, 9.0};
geom::Vector3D a {1.0, 2.0, 3.0};
geom::Vector3D expected {3.0, 6.0, 9.0};
SCTEST_CHECK_EQ(a * 3.0, expected);
@@ -316,8 +316,8 @@ Vector3DoubleTests_ScalarMultiplication()
static bool
Vector3DoubleTests_ScalarDivision()
{
geom::Vector3d a {1.0, 2.0, 3.0};
geom::Vector3d b {3.0, 6.0, 9.0};
geom::Vector3D a {1.0, 2.0, 3.0};
geom::Vector3D b {3.0, 6.0, 9.0};
SCTEST_CHECK_EQ(b / 3.0, a);
@@ -328,8 +328,8 @@ Vector3DoubleTests_ScalarDivision()
static bool
Vector3DoubleTests_DotProduct()
{
geom::Vector3d a {1.0, 2.0, 3.0};
geom::Vector3d b {4.0, 5.0, 6.0};
geom::Vector3D a {1.0, 2.0, 3.0};
geom::Vector3D b {4.0, 5.0, 6.0};
SCTEST_CHECK_DEQ(a * b, 32.0);
@@ -341,14 +341,14 @@ static bool
Vector3DoubleTests_UnitVector()
{
// Test values randomly generated and calculated with numpy.
geom::Vector3d vec3 {5.320264018493507, 5.6541812891273935, 1.9233435162644652};
geom::Vector3d unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
geom::Vector3d unit2;
geom::Vector3D vec3 {5.320264018493507, 5.6541812891273935, 1.9233435162644652};
geom::Vector3D unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
geom::Vector3D unit2;
SCTEST_CHECK_EQ(vec3.unitVector(), unit);
SCTEST_CHECK_FALSE(vec3.isUnitVector());
SCTEST_CHECK(unit.isUnitVector());
SCTEST_CHECK(unit2.isUnitVector());
SCTEST_CHECK_EQ(vec3.UnitVector(), unit);
SCTEST_CHECK_FALSE(vec3.IsUnitVector());
SCTEST_CHECK(unit.IsUnitVector());
SCTEST_CHECK(unit2.IsUnitVector());
return true;
}
@@ -357,13 +357,13 @@ Vector3DoubleTests_UnitVector()
static bool
Vector3DoubleTests_Angle()
{
geom::Vector3d a {0.3977933061361172, 8.053980094436525, 8.1287759943773};
geom::Vector3d b {9.817895298608196, 4.034166890407462, 4.37628316513266};
geom::Vector3d c {7.35, 0.221, 5.188};
geom::Vector3d d {2.751, 8.259, 3.985};
geom::Vector3D a {0.3977933061361172, 8.053980094436525, 8.1287759943773};
geom::Vector3D b {9.817895298608196, 4.034166890407462, 4.37628316513266};
geom::Vector3D c {7.35, 0.221, 5.188};
geom::Vector3D d {2.751, 8.259, 3.985};
SCTEST_CHECK_DEQ(a.angle(b), 0.9914540426033251);
if (!scmp::WithinTolerance(c.angle(d), (double)1.052, (double)0.001)) {
SCTEST_CHECK_DEQ(a.Angle(b), 0.9914540426033251);
if (!scmp::WithinTolerance(c.Angle(d), (double)1.052, (double)0.001)) {
return false;
}
@@ -374,26 +374,26 @@ Vector3DoubleTests_Angle()
static bool
Vector3DoubleTests_ParallelOrthogonalVectors()
{
geom::Vector3d a {-2.029, 9.97, 4.172};
geom::Vector3d b {-9.231, -6.639, -7.245};
geom::Vector3d c {-2.328, -7.284, -1.214};
geom::Vector3d d {-1.821, 1.072, -2.94};
geom::Vector3d e {-2.0, 1.0, 3.0};
geom::Vector3d f {-6.0, 3.0, 9.0};
geom::Vector3d zeroVector {0.0, 0.0, 0.0};
geom::Vector3D a {-2.029, 9.97, 4.172};
geom::Vector3D b {-9.231, -6.639, -7.245};
geom::Vector3D c {-2.328, -7.284, -1.214};
geom::Vector3D d {-1.821, 1.072, -2.94};
geom::Vector3D e {-2.0, 1.0, 3.0};
geom::Vector3D f {-6.0, 3.0, 9.0};
geom::Vector3D zeroVector {0.0, 0.0, 0.0};
SCTEST_CHECK_FALSE(a.isParallel(b));
SCTEST_CHECK_FALSE(a.isOrthogonal(b));
SCTEST_CHECK_FALSE(a.IsParallel(b));
SCTEST_CHECK_FALSE(a.IsOrthogonal(b));
SCTEST_CHECK_FALSE(c.isParallel(d));
SCTEST_CHECK(c.isOrthogonal(d));
SCTEST_CHECK_FALSE(c.IsParallel(d));
SCTEST_CHECK(c.IsOrthogonal(d));
SCTEST_CHECK(e.isParallel(f));
SCTEST_CHECK_FALSE(e.isOrthogonal(f));
SCTEST_CHECK(e.IsParallel(f));
SCTEST_CHECK_FALSE(e.IsOrthogonal(f));
SCTEST_CHECK(zeroVector.isZero());
SCTEST_CHECK(c.isParallel(zeroVector));
SCTEST_CHECK(c.isOrthogonal(zeroVector));
SCTEST_CHECK(zeroVector.IsZero());
SCTEST_CHECK(c.IsParallel(zeroVector));
SCTEST_CHECK(c.IsOrthogonal(zeroVector));
return true;
}
@@ -402,13 +402,13 @@ Vector3DoubleTests_ParallelOrthogonalVectors()
static bool
Vector3DoubleTests_Projections()
{
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};
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};
SCTEST_CHECK_EQ(a.projectParallel(b), c);
SCTEST_CHECK_EQ(a.projectOrthogonal(b), d);
SCTEST_CHECK_EQ(a.ProjectParallel(b), c);
SCTEST_CHECK_EQ(a.ProjectOrthogonal(b), d);
return true;
}
@@ -417,12 +417,12 @@ Vector3DoubleTests_Projections()
static bool
Vector3DoubleTests_CrossProduct()
{
geom::Vector3d a {8.462, 7.893, -8.187};
geom::Vector3d b {6.984, -5.975, 4.778};
geom::Vector3d c {-11.2046, -97.6094, -105.685};
geom::Vector3D a {8.462, 7.893, -8.187};
geom::Vector3D b {6.984, -5.975, 4.778};
geom::Vector3D c {-11.2046, -97.6094, -105.685};
c.setEpsilon(0.001); // double trouble
SCTEST_CHECK_EQ(c, a.cross(b));
c.SetEpsilon(0.001); // double trouble
SCTEST_CHECK_EQ(c, a.Cross(b));
return true;
}