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
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
|
/****************************************************************************
*
* 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:
* Test some vpColVector functionalities.
*
*****************************************************************************/
/*!
\example testTranslationVector.cpp
Test some vpTranslationVector functionalities.
*/
#include <cmath>
#include <limits>
#include <vector>
#include <visp3/core/vpTranslationVector.h>
bool test(const std::string &s, const vpArray2D<double> &A, const std::vector<double> &bench)
{
static unsigned int cpt = 0;
std::cout << "** Test " << ++cpt << std::endl;
std::cout << s << "(" << A.getRows() << "," << A.getCols() << ") =" << A << std::endl;
if (bench.size() != A.size()) {
std::cout << "Test fails: bad size wrt bench" << std::endl;
return false;
}
for (unsigned int i = 0; i < A.size(); i++) {
if (std::fabs(A.data[i] - bench[i]) > std::fabs(A.data[i]) * std::numeric_limits<double>::epsilon()) {
std::cout << "Test fails: bad content" << std::endl;
return false;
}
}
return true;
}
int main()
{
int err = 1;
{
vpTranslationVector t;
std::vector<double> bench(3, 0);
if (test("t", t, bench) == false)
return err;
}
{
vpTranslationVector t1(1, 2, 3);
std::vector<double> bench(3);
bench[0] = 1;
bench[1] = 2;
bench[2] = 3;
if (test("t1", t1, bench) == false)
return err;
vpTranslationVector t2(4, 5, 6);
bench[0] = 4;
bench[1] = 5;
bench[2] = 6;
if (test("t2", t2, bench) == false)
return err;
vpTranslationVector t3 = t1 + t2;
bench[0] = 5;
bench[1] = 7;
bench[2] = 9;
if (test("t3", t3, bench) == false)
return err;
vpMatrix skew = t3.skew();
std::vector<double> bench1(9, 0);
bench1[1] = -9;
bench1[2] = 7;
bench1[3] = 9;
bench1[5] = -5;
bench1[6] = -7;
bench1[7] = 5;
if (test("skew", skew, bench1) == false)
return err;
vpTranslationVector t4;
t4.set(-1, -2, -3);
bench[0] = -1;
bench[1] = -2;
bench[2] = -3;
if (test("t4", t4, bench) == false)
return err;
vpTranslationVector t5 = t4 * 2;
bench[0] = -2;
bench[1] = -4;
bench[2] = -6;
if (test("t5", t5, bench) == false)
return err;
vpTranslationVector t6 = vpTranslationVector::cross(t4, t5);
bench[0] = 0;
bench[1] = 0;
bench[2] = 0;
if (test("t6", t6, bench) == false)
return err;
}
std::cout << "All tests succeed" << std::endl;
return EXIT_SUCCESS;
}
|
