#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;
}
{
std::vector<double> bench(3);
bench[0] = 1;
bench[1] = 2;
bench[2] = 3;
if (test("t1", t1, bench) == false)
return err;
bench[0] = 4;
bench[1] = 5;
bench[2] = 6;
if (test("t2", t2, bench) == false)
return err;
bench[0] = 5;
bench[1] = 7;
bench[2] = 9;
if (test("t3", t3, bench) == false)
return err;
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;
bench[0] = -1;
bench[1] = -2;
bench[2] = -3;
if (test("t4", t4, bench) == false)
return err;
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;
}