1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
|
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2019, Bielefeld University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Bielefeld University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <geometric_shapes/check_isometry.h>
#include <gtest/gtest.h>
TEST(Utils, checkIsometry)
{
Eigen::Isometry3d t(Eigen::AngleAxisd(0.42, Eigen::Vector3d(1, 1, 1).normalized()));
ASSERT_TRUE(::checkIsometry(t));
const Eigen::Vector3d oldDiagonal = t.linear().diagonal();
t.linear() = t.linear() * Eigen::DiagonalMatrix<double, 3, 3>(1.0, 2.0, 3.0);
ASSERT_FALSE(::checkIsometry(t));
t.matrix().row(3) = Eigen::Vector4d(1e-6, 1e-6, 1e-6, 1 - 1e-6);
ASSERT_FALSE(::checkIsometry(t, CHECK_ISOMETRY_PRECISION));
t.linear().diagonal() = oldDiagonal;
ASSERT_TRUE(::checkIsometry(t, 1e-0, false));
ASSERT_FALSE(::checkIsometry(t, 1e-1));
ASSERT_FALSE(::checkIsometry(t, 1e-2, false));
std::cerr.flush();
}
TEST(Utils, assertIsometry)
{
Eigen::Isometry3d t(Eigen::AngleAxisd(0.42, Eigen::Vector3d(1, 1, 1).normalized()));
ASSERT_ISOMETRY(t);
t.linear() = t.linear() * Eigen::DiagonalMatrix<double, 3, 3>(1.0, 2.0, 3.0);
#ifdef NDEBUG
ASSERT_ISOMETRY(t) // noop in release mode
#else
ASSERT_DEATH(ASSERT_ISOMETRY(t), "Invalid isometry transform");
#endif
t.matrix().row(3) = Eigen::Vector4d(1e-6, 1e-6, 1e-6, 1 - 1e-6);
#ifdef NDEBUG
ASSERT_ISOMETRY(t) // noop in release mode
#else
ASSERT_DEATH(ASSERT_ISOMETRY(t), "Invalid isometry transform");
#endif
std::cerr.flush();
}
int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
|
