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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:
* Test vpXmlParserHomogeneousMatrix parse / save.
*
*****************************************************************************/
/*!
\file testXmlParserHomogeneousMatrix.cpp
Test vpXmlParserHomogeneousMatrix parse / save.
*/
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpXmlParserHomogeneousMatrix.h>
int main()
{
#if defined(_WIN32)
std::string tmp_dir = "C:/temp/";
#else
std::string tmp_dir = "/tmp/";
#endif
// Get the user login name
std::string username;
vpIoTools::getUserName(username);
tmp_dir += username + "/test_xml_parser_homogeneous/";
vpIoTools::remove(tmp_dir);
std::cout << "Create: " << tmp_dir << std::endl;
vpIoTools::makeDirectory(tmp_dir);
vpTranslationVector t(0.264, -0.441, 1.284);
vpThetaUVector tu(vpMath::rad(12.7), vpMath::rad(-38.23), vpMath::rad(24.45));
vpHomogeneousMatrix cMo(t, tu);
std::string filename = tmp_dir + "test_write_homogeneous.xml";
{
vpXmlParserHomogeneousMatrix xml;
std::cout << "Write to: " << filename << std::endl;
if (xml.save(cMo, filename, "cMo") != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
std::cerr << "Cannot save XML file: " << filename << std::endl;
return EXIT_FAILURE;
}
}
vpHomogeneousMatrix cMo_read;
{
vpXmlParserHomogeneousMatrix xml;
xml.parse(cMo_read, filename, "cMo");
std::cout << "cMo write:\n" << cMo << std::endl;
std::cout << "cMo read:\n" << cMo_read << std::endl;
for (unsigned int i = 0; i < 3; i++) {
for (unsigned int j = 0; j < 3; j++) {
if (!vpMath::equal(cMo[i][j], cMo_read[i][j], std::numeric_limits<double>::epsilon())) {
std::cerr << "Issue when parsing XML file: " << filename << std::endl;
return EXIT_FAILURE;
}
}
}
}
vpIoTools::remove(tmp_dir);
return EXIT_SUCCESS;
}
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