Visual Servoing Platform  version 3.2.0 under development (2018-12-17)
testPoseVector.cpp

Test some vpPoseVector functionalities.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 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 http://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.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#include <cmath>
#include <limits>
#include <vector>
#include <visp3/core/vpPoseVector.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()
{
{
std::vector<double> bench(6, 0);
int err = 1;
if (test("p", p, bench) == false)
return err;
p[0] = bench[0] = 0.1;
p[1] = bench[1] = 0.2;
p[2] = bench[2] = 0.3;
p[3] = bench[3] = vpMath::rad(10);
p[4] = bench[4] = vpMath::rad(20);
p[5] = bench[5] = vpMath::rad(30);
if (test("p", p, bench) == false)
return err;
vpPoseVector p1(p[0], p[1], p[2], p[3], p[4], p[5]);
if (test("p1", p1, bench) == false)
return err;
vpPoseVector p2(p1);
if (test("p2", p2, bench) == false)
return err;
vpPoseVector p3 = p1;
if (test("p3", p3, bench) == false)
return err;
p4.set(p[0], p[1], p[2], p[3], p[4], p[5]);
if (test("p4", p4, bench) == false)
return err;
vpTranslationVector t(p[0], p[1], p[2]);
vpThetaUVector tu(p[3], p[4], p[5]);
vpPoseVector p5(t, tu);
if (test("p5", p5, bench) == false)
return err;
p6.buildFrom(t, tu);
if (test("p6", p6, bench) == false)
return err;
vpPoseVector p7(M);
if (test("p7", p7, bench) == false)
return err;
p8.buildFrom(M);
if (test("p8", p8, bench) == false)
return err;
vpPoseVector p9(t, R);
if (test("p9", p9, bench) == false)
return err;
p10.buildFrom(t, R);
if (test("p10", p10, bench) == false)
return err;
}
std::cout << "All tests succeed" << std::endl;
return 0;
}