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
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
|
/*
* Copyright (c) 2008, Willow Garage, Inc.
* 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 Willow Garage, Inc. 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 <vector>
#include <sys/time.h>
#include <cstdio>
#include <gtest/gtest.h>
#include "tf/LinearMath/Transform.h"
double epsilon = 10E-6;
void seed_rand()
{
//Seed random number generator with current microseond count
timeval temp_time_struct;
gettimeofday(&temp_time_struct,NULL);
srand(temp_time_struct.tv_usec);
}
void testQuatRPY(tf::Quaternion q_baseline)
{
q_baseline.normalize();
tf::Matrix3x3 m(q_baseline);
double roll, pitch, yaw;
for (int solution = 1 ; solution < 2 ; ++solution)
{
m.getRPY(roll, pitch, yaw, solution);
tf::Quaternion q_from_rpy;
q_from_rpy.setRPY(roll, pitch, yaw);
// use angleShortestPath() because angle() can return PI for equivalent
// quaternions
double angle1 = q_from_rpy.angleShortestPath(q_baseline);
ASSERT_NEAR(0.0, angle1, epsilon);
//std::printf("%f, angle between quaternions\n", angle1);
tf::Matrix3x3 m2;
m2.setRPY(roll, pitch, yaw);
tf::Quaternion q_from_m_from_rpy;
m2.getRotation(q_from_m_from_rpy);
// use angleShortestPath() because angle() can return PI for equivalent
// quaternions
double angle2 = q_from_m_from_rpy.angleShortestPath(q_baseline);
ASSERT_NEAR(0.0, angle2, epsilon);
//std::printf("%f, angle between quaternions\n", angle2);
}
}
TEST(tf, Quaternion)
{
unsigned int runs = 400;
seed_rand();
std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs);
for ( unsigned int i = 0; i < runs ; i++ )
{
xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
}
for ( unsigned int i = 0; i < runs ; i++ )
{
tf::Matrix3x3 mat;
tf::Quaternion q_baseline;
q_baseline.setRPY(zvalues[i],yvalues[i],xvalues[i]);
mat.setRotation(q_baseline);
tf::Quaternion q_from_m;
mat.getRotation(q_from_m);
double angle = q_from_m.angle(q_baseline);
ASSERT_NEAR(0.0, angle, epsilon);
testQuatRPY(q_baseline);
}
// test some corner cases
testQuatRPY(tf::Quaternion( 0.5, 0.5, 0.5, -0.5));
testQuatRPY(tf::Quaternion( 0.5, 0.5, 0.5, 0.5));
testQuatRPY(tf::Quaternion( 0.5, -0.5, 0.5, 0.5));
testQuatRPY(tf::Quaternion( 0.5, 0.5, -0.5, 0.5));
testQuatRPY(tf::Quaternion(-0.5, 0.5, 0.5, 0.5));
}
int main(int argc, char **argv){
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
|
