Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
testTranslationVector.cpp

Test some vpTranslationVector 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/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;
{
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;
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;
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 0;
}