Visual Servoing Platform  version 3.5.1 under development (2022-10-03)
testPoseVector.cpp

Test some vpPoseVector functionalities.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_CATCH2
#include <limits>
#include <vector>
#include <visp3/core/vpPoseVector.h>
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
namespace
{
void checkSize(const vpPoseVector &pose, const std::vector<double> &ref)
{
REQUIRE(pose.size() == 6);
REQUIRE(pose.getRows() == 6);
REQUIRE(pose.getCols() == 1);
REQUIRE(pose.size() == ref.size());
}
void checkData(const vpPoseVector &pose, const std::vector<double> &ref)
{
for (unsigned int i = 0; i < pose.size(); i++) {
REQUIRE(pose[i] == Approx(ref[i]).epsilon(std::numeric_limits<double>::epsilon()));
}
}
} // namespace
TEST_CASE("vpPoseVector size", "[vpColVector]")
{
REQUIRE(pose.size() == 6);
REQUIRE(pose.getRows() == 6);
REQUIRE(pose.getCols() == 1);
for (unsigned int i = 0; i < pose.getRows(); i++) {
REQUIRE(pose[i] == Approx(0).epsilon(std::numeric_limits<double>::epsilon()));
}
}
TEST_CASE("vpPoseVector value assignment", "[vpColVector]")
{
std::vector<double> ref(6);
pose[0] = ref[0] = 0.1;
pose[1] = ref[1] = 0.2;
pose[2] = ref[2] = 0.3;
pose[3] = ref[3] = vpMath::rad(10);
pose[4] = ref[4] = vpMath::rad(20);
pose[5] = ref[5] = vpMath::rad(30);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector constructor", "[vpColVector]")
{
std::vector<double> ref(6);
ref[0] = 0.1;
ref[1] = 0.2;
ref[2] = 0.3;
ref[3] = vpMath::rad(10);
ref[4] = vpMath::rad(20);
ref[5] = vpMath::rad(30);
vpPoseVector pose(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector copy constructor", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpPoseVector pose1(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
vpPoseVector pose2(pose1);
checkSize(pose2, ref);
checkData(pose2, ref);
}
TEST_CASE("vpPoseVector object assignment", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpPoseVector pose1(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
vpPoseVector pose2 = pose1;
checkSize(pose2, ref);
checkData(pose2, ref);
}
TEST_CASE("vpPoseVector set", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpPoseVector pose1(ref[0], ref[1], ref[2], ref[3], ref[4], ref[5]);
vpPoseVector pose2;
pose2.set(pose1[0], pose1[1], pose1[2], pose1[3], pose1[4], pose1[5]);
checkSize(pose2, ref);
checkData(pose2, ref);
}
TEST_CASE("vpPoseVector constructor t, tu", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpTranslationVector t(ref[0], ref[1], ref[2]);
vpThetaUVector tu(ref[3], ref[4], ref[5]);
vpPoseVector pose(t, tu);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector buildFrom t, tu", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpTranslationVector t(ref[0], ref[1], ref[2]);
vpThetaUVector tu(ref[3], ref[4], ref[5]);
pose.buildFrom(t, tu);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector constructor vpHomogeneousMatrix", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpTranslationVector t(ref[0], ref[1], ref[2]);
vpThetaUVector tu(ref[3], ref[4], ref[5]);
vpPoseVector pose(M);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector buildFrom vpHomogeneousMatrix", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpTranslationVector t(ref[0], ref[1], ref[2]);
vpThetaUVector tu(ref[3], ref[4], ref[5]);
pose.buildFrom(M);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector constructor t, R", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpTranslationVector t(ref[0], ref[1], ref[2]);
vpThetaUVector tu(ref[3], ref[4], ref[5]);
vpPoseVector pose(t, R);
checkSize(pose, ref);
checkData(pose, ref);
}
TEST_CASE("vpPoseVector buildFrom t, R", "[vpColVector]")
{
std::vector<double> ref = {0.1, 0.2, 0.3, vpMath::rad(10), vpMath::rad(20), vpMath::rad(30)};
vpTranslationVector t(ref[0], ref[1], ref[2]);
vpThetaUVector tu(ref[3], ref[4], ref[5]);
pose.buildFrom(t, R);
checkSize(pose, ref);
checkData(pose, ref);
}
int main(int argc, char *argv[])
{
Catch::Session session; // There must be exactly one instance
// Let Catch (using Clara) parse the command line
session.applyCommandLine(argc, argv);
int numFailed = session.run();
// numFailed is clamped to 255 as some unices only use the lower 8 bits.
// This clamping has already been applied, so just return it here
// You can also do any post run clean-up here
return numFailed;
}
#else
#include <iostream>
int main() { return 0; }
#endif
unsigned int getCols() const
Definition: vpArray2D.h:281
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:293
unsigned int getRows() const
Definition: vpArray2D.h:291
Implementation of an homogeneous matrix and operations on such kind of matrices.
static double rad(double deg)
Definition: vpMath.h:117
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
void set(double tx, double ty, double tz, double tux, double tuy, double tuz)
vpPoseVector buildFrom(double tx, double ty, double tz, double tux, double tuy, double tuz)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.