Visual Servoing Platform version 3.5.0
testPoseVector.cpp
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30 *
31 * Description:
32 * Test some vpColVector functionalities.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#include <visp3/core/vpConfig.h>
45
46#ifdef VISP_HAVE_CATCH2
47#include <limits>
48#include <vector>
49
50#include <visp3/core/vpPoseVector.h>
51
52#define CATCH_CONFIG_RUNNER
53#include <catch.hpp>
54
55namespace {
56 void checkSize(const vpPoseVector& pose, const std::vector<double>& ref)
57 {
58 REQUIRE(pose.size() == 6);
59 REQUIRE(pose.getRows() == 6);
60 REQUIRE(pose.getCols() == 1);
61 REQUIRE(pose.size() == ref.size());
62 }
63
64 void checkData(const vpPoseVector& pose, const std::vector<double>& ref)
65 {
66 for (unsigned int i = 0; i < pose.size(); i++) {
67 REQUIRE(pose[i] == Approx(ref[i]).epsilon(std::numeric_limits<double>::epsilon()));
68 }
69 }
70}
71
72TEST_CASE("vpPoseVector size", "[vpColVector]") {
73 vpPoseVector pose;
74 REQUIRE(pose.size() == 6);
75 REQUIRE(pose.getRows() == 6);
76 REQUIRE(pose.getCols() == 1);
77
78 for (unsigned int i = 0; i < pose.getRows(); i++) {
79 REQUIRE(pose[i] == Approx(0).epsilon(std::numeric_limits<double>::epsilon()));
80 }
81}
82
83TEST_CASE("vpPoseVector value assignment", "[vpColVector]") {
84 vpPoseVector pose;
85 std::vector<double> ref(6);
86 pose[0] = ref[0] = 0.1;
87 pose[1] = ref[1] = 0.2;
88 pose[2] = ref[2] = 0.3;
89 pose[3] = ref[3] = vpMath::rad(10);
90 pose[4] = ref[4] = vpMath::rad(20);
91 pose[5] = ref[5] = vpMath::rad(30);
92
93 checkSize(pose, ref);
94 checkData(pose, ref);
95}
96
97TEST_CASE("vpPoseVector constructor", "[vpColVector]") {
98 std::vector<double> ref(6);
99 ref[0] = 0.1;
100 ref[1] = 0.2;
101 ref[2] = 0.3;
102 ref[3] = vpMath::rad(10);
103 ref[4] = vpMath::rad(20);
104 ref[5] = vpMath::rad(30);
105
106 vpPoseVector pose(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
107
108 checkSize(pose, ref);
109 checkData(pose, ref);
110}
111
112TEST_CASE("vpPoseVector copy constructor", "[vpColVector]") {
113 std::vector<double> ref = { 0.1, 0.2, 0.3,
114 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
115
116 vpPoseVector pose1(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
117 vpPoseVector pose2(pose1);
118
119 checkSize(pose2, ref);
120 checkData(pose2, ref);
121}
122
123TEST_CASE("vpPoseVector object assignment", "[vpColVector]") {
124 std::vector<double> ref = { 0.1, 0.2, 0.3,
125 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
126
127 vpPoseVector pose1(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
128 vpPoseVector pose2 = pose1;
129
130 checkSize(pose2, ref);
131 checkData(pose2, ref);
132}
133
134TEST_CASE("vpPoseVector set", "[vpColVector]") {
135 std::vector<double> ref = { 0.1, 0.2, 0.3,
136 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
137
138 vpPoseVector pose1(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
139 vpPoseVector pose2;
140 pose2.set(pose1[0], pose1[1], pose1[2], pose1[3], pose1[4], pose1[5]);
141
142 checkSize(pose2, ref);
143 checkData(pose2, ref);
144}
145
146TEST_CASE("vpPoseVector constructor t, tu", "[vpColVector]") {
147 std::vector<double> ref = { 0.1, 0.2, 0.3,
148 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
149 vpTranslationVector t(ref[0], ref[1], ref[2]);
150 vpThetaUVector tu(ref[3], ref[4], ref[5]);
151
152 vpPoseVector pose(t, tu);
153
154 checkSize(pose, ref);
155 checkData(pose, ref);
156}
157
158TEST_CASE("vpPoseVector buildFrom t, tu", "[vpColVector]") {
159 std::vector<double> ref = { 0.1, 0.2, 0.3,
160 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
161 vpTranslationVector t(ref[0], ref[1], ref[2]);
162 vpThetaUVector tu(ref[3], ref[4], ref[5]);
163
164 vpPoseVector pose;
165 pose.buildFrom(t, tu);
166
167 checkSize(pose, ref);
168 checkData(pose, ref);
169}
170
171TEST_CASE("vpPoseVector constructor vpHomogeneousMatrix", "[vpColVector]") {
172 std::vector<double> ref = { 0.1, 0.2, 0.3,
173 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
174 vpTranslationVector t(ref[0], ref[1], ref[2]);
175 vpThetaUVector tu(ref[3], ref[4], ref[5]);
176 vpHomogeneousMatrix M(t, tu);
177
178 vpPoseVector pose(M);
179
180 checkSize(pose, ref);
181 checkData(pose, ref);
182}
183
184TEST_CASE("vpPoseVector buildFrom vpHomogeneousMatrix", "[vpColVector]") {
185 std::vector<double> ref = { 0.1, 0.2, 0.3,
186 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
187 vpTranslationVector t(ref[0], ref[1], ref[2]);
188 vpThetaUVector tu(ref[3], ref[4], ref[5]);
189 vpHomogeneousMatrix M(t, tu);
190
191 vpPoseVector pose;
192 pose.buildFrom(M);
193
194 checkSize(pose, ref);
195 checkData(pose, ref);
196}
197
198TEST_CASE("vpPoseVector constructor t, R", "[vpColVector]") {
199 std::vector<double> ref = { 0.1, 0.2, 0.3,
200 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
201 vpTranslationVector t(ref[0], ref[1], ref[2]);
202 vpThetaUVector tu(ref[3], ref[4], ref[5]);
203 vpRotationMatrix R(tu);
204
205 vpPoseVector pose(t, R);
206
207 checkSize(pose, ref);
208 checkData(pose, ref);
209}
210
211TEST_CASE("vpPoseVector buildFrom t, R", "[vpColVector]") {
212 std::vector<double> ref = { 0.1, 0.2, 0.3,
213 vpMath::rad(10), vpMath::rad(20), vpMath::rad(30) };
214 vpTranslationVector t(ref[0], ref[1], ref[2]);
215 vpThetaUVector tu(ref[3], ref[4], ref[5]);
216 vpRotationMatrix R(tu);
217
218 vpPoseVector pose;
219 pose.buildFrom(t, R);
220
221 checkSize(pose, ref);
222 checkData(pose, ref);
223}
224
225int main(int argc, char *argv[])
226{
227 Catch::Session session; // There must be exactly one instance
228
229 // Let Catch (using Clara) parse the command line
230 session.applyCommandLine(argc, argv);
231
232 int numFailed = session.run();
233
234 // numFailed is clamped to 255 as some unices only use the lower 8 bits.
235 // This clamping has already been applied, so just return it here
236 // You can also do any post run clean-up here
237 return numFailed;
238}
239#else
240#include <iostream>
241
242int main()
243{
244 return 0;
245}
246#endif
unsigned int getCols() const
Definition: vpArray2D.h:279
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
unsigned int getRows() const
Definition: vpArray2D.h:289
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Definition: vpMath.h:110
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
void set(double tx, double ty, double tz, double tux, double tuy, double tuz)
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.