Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
testQuaternion2.cpp

Test quaternion interpolation.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2022 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 quaternion interpolation.
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_CATCH2
#include <visp3/core/vpQuaternionVector.h>
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
TEST_CASE("Quaternion interpolation", "[quaternion]")
{
const double angle0 = vpMath::rad(-37.14);
const double angle1 = vpMath::rad(57.96);
vpColVector axis({1.2, 6.4, -3.7});
axis.normalize();
const vpThetaUVector tu0(angle0 * axis);
const vpThetaUVector tu1(angle1 * axis);
const vpQuaternionVector q0(tu0);
const vpQuaternionVector q1(tu1);
const double t = 0.5;
const double ref_angle_middle = t * (angle0 + angle1);
const double margin = 1e-3;
const double marginLerp = 1e-1;
// From:
// https://github.com/google/mathfu/blob/a75f852f2d76f6f14d5697e0d09ce509a2e3bfc6/unit_tests/quaternion_test/quaternion_test.cpp#L319-L329
// This will verify that interpolating two quaternions corresponds to interpolating the angle.
SECTION("LERP") {
CHECK(vpThetaUVector(qLerp).getTheta() == Approx(ref_angle_middle).margin(marginLerp));
}
SECTION("NLERP") {
CHECK(vpThetaUVector(qNlerp).getTheta() == Approx(ref_angle_middle).margin(margin));
}
SECTION("SERP") {
CHECK(vpThetaUVector(qSlerp).getTheta() == Approx(ref_angle_middle).margin(margin));
}
}
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
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpColVector & normalize()
static double rad(double deg)
Definition: vpMath.h:117
Implementation of a rotation vector as quaternion angle minimal representation.
static vpQuaternionVector slerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
static vpQuaternionVector nlerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
static vpQuaternionVector lerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
Implementation of a rotation vector as axis-angle minimal representation.