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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Tests quaternion operations.
*
*****************************************************************************/
/*!
\file testQuaternion.cpp
\brief Tests quaternion operations.
*/
#include <limits>
#include <visp3/core/vpException.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpQuaternionVector.h>
int main()
{
try {
// Test addition of two quaternions
vpQuaternionVector q1(2.1, -1, -3.7, 1.5);
vpQuaternionVector q2(0.5, 1.4, 0.7, 2.5);
vpQuaternionVector q3 = q1 + q2;
std::cout << "q3=" << q3 << std::endl;
if (!vpMath::equal(q3.x(), 2.6, std::numeric_limits<double>::epsilon()) ||
!vpMath::equal(q3.y(), 0.4, std::numeric_limits<double>::epsilon()) ||
!vpMath::equal(q3.z(), -3.0, std::numeric_limits<double>::epsilon()) ||
!vpMath::equal(q3.w(), 4.0, std::numeric_limits<double>::epsilon())) {
throw vpException(vpException::fatalError, "Problem with addition of two quaternions !");
}
// Test subtraction of two quaternions
vpQuaternionVector q4 = q3 - q1;
std::cout << "q4=" << q4 << std::endl;
if (!vpMath::equal(q4.x(), q2.x(), std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q4.y(), q2.y(), std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q4.z(), q2.z(), std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q4.w(), q2.w(), std::numeric_limits<double>::epsilon() * 1e4)) {
throw vpException(vpException::fatalError, "Problem with subtraction of two quaternions !");
}
// Test multiplication of two quaternions
// https://www.wolframalpha.com/input/?i=quaternion+-Sin%5BPi%5D%2B3i%2B4j%2B3k+multiplied+by+-1j%2B3.9i%2B4-3k&lk=3
vpQuaternionVector q5(3.0, 4.0, 3.0, -sin(M_PI));
vpQuaternionVector q6(3.9, -1.0, -3.0, 4.0);
vpQuaternionVector q7 = q5 * q6;
std::cout << "q7=" << q7 << std::endl;
if (!vpMath::equal(q7.x(), 3.0, std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q7.y(), 36.7, std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q7.z(), -6.6, std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q7.w(), 1.3, std::numeric_limits<double>::epsilon() * 1e4)) {
throw vpException(vpException::fatalError, "Problem with multiplication of two quaternions !");
}
// Test quaternion conjugate
vpQuaternionVector q7_conj = q7.conjugate();
std::cout << "q7_conj=" << q7_conj << std::endl;
if (!vpMath::equal(q7_conj.x(), -3.0, std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q7_conj.y(), -36.7, std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q7_conj.z(), 6.6, std::numeric_limits<double>::epsilon() * 1e4) ||
!vpMath::equal(q7_conj.w(), 1.3, std::numeric_limits<double>::epsilon() * 1e4)) {
throw vpException(vpException::fatalError, "Problem with quaternion conjugate !");
}
// Test quaternion inverse
vpQuaternionVector q7_inv = q7.inverse();
std::cout << "q7_inv=" << q7_inv << std::endl;
if (!vpMath::equal(q7_inv.x(), -0.00214111, 0.000001) || !vpMath::equal(q7_inv.y(), -0.026193, 0.000001) ||
!vpMath::equal(q7_inv.z(), 0.00471045, 0.000001) || !vpMath::equal(q7_inv.w(), 0.000927816, 0.000001)) {
throw vpException(vpException::fatalError, "Problem with quaternion inverse !");
}
// Test quaternion norm
double q7_norm = q7.magnitude();
std::cout << "q7_norm=" << q7_norm << std::endl;
if (!vpMath::equal(q7_norm, 37.4318, 0.0001)) {
throw vpException(vpException::fatalError, "Problem with quaternion magnitude !");
}
// Test quaternion normalization
q7.normalize();
std::cout << "q7_unit=" << q7 << std::endl;
if (!vpMath::equal(q7.x(), 0.0801457, 0.00001) || !vpMath::equal(q7.y(), 0.98045, 0.00001) ||
!vpMath::equal(q7.z(), -0.176321, 0.00001) || !vpMath::equal(q7.w(), 0.0347298, 0.00001)) {
throw vpException(vpException::fatalError, "Problem with quaternion normalization !");
}
// Test copy constructor
vpQuaternionVector q_copy1 = vpQuaternionVector(0, 0, 1, 1);
std::cout << "q_copy1=" << q_copy1 << std::endl;
vpQuaternionVector q_copy2 = q_copy1;
q_copy1.set(1, 0, 1, 10);
std::cout << "q_copy1 after set=" << q_copy1 << std::endl;
std::cout << "q_copy2=" << q_copy2 << std::endl;
// Test assignment operator
vpQuaternionVector q_copy3(10, 10, 10, 10);
q_copy3 = q_copy1;
std::cout << "q_copy3=" << q_copy3 << std::endl;
std::cout << "vpQuaternion operations are ok !" << std::endl;
return EXIT_SUCCESS;
}
catch (const vpException &e) {
std::cerr << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
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