Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
testQuaternion.cpp
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30  *
31  * Description:
32  * Tests quaternion operations.
33  *
34  * Author:
35  * Souriya Trinh
36  *
37  *****************************************************************************/
38 
44 #include <limits>
45 #include <visp3/core/vpException.h>
46 #include <visp3/core/vpMath.h>
47 #include <visp3/core/vpQuaternionVector.h>
48 
49 int main()
50 {
51  try {
52  // Test addition of two quaternions
53  vpQuaternionVector q1(2.1, -1, -3.7, 1.5);
54  vpQuaternionVector q2(0.5, 1.4, 0.7, 2.5);
55  vpQuaternionVector q3 = q1 + q2;
56  std::cout << "q3=" << q3 << std::endl;
57  if (!vpMath::equal(q3.x(), 2.6, std::numeric_limits<double>::epsilon()) ||
58  !vpMath::equal(q3.y(), 0.4, std::numeric_limits<double>::epsilon()) ||
59  !vpMath::equal(q3.z(), -3.0, std::numeric_limits<double>::epsilon()) ||
60  !vpMath::equal(q3.w(), 4.0, std::numeric_limits<double>::epsilon())) {
61  throw vpException(vpException::fatalError, "Problem with addition of two quaternions !");
62  }
63 
64  // Test subtraction of two quaternions
65  vpQuaternionVector q4 = q3 - q1;
66  std::cout << "q4=" << q4 << std::endl;
67  if (!vpMath::equal(q4.x(), q2.x(), std::numeric_limits<double>::epsilon() * 1e4) ||
68  !vpMath::equal(q4.y(), q2.y(), std::numeric_limits<double>::epsilon() * 1e4) ||
69  !vpMath::equal(q4.z(), q2.z(), std::numeric_limits<double>::epsilon() * 1e4) ||
70  !vpMath::equal(q4.w(), q2.w(), std::numeric_limits<double>::epsilon() * 1e4)) {
71  throw vpException(vpException::fatalError, "Problem with subtraction of two quaternions !");
72  }
73 
74  // Test multiplication of two quaternions
75  // https://www.wolframalpha.com/input/?i=quaternion+-Sin%5BPi%5D%2B3i%2B4j%2B3k+multiplied+by+-1j%2B3.9i%2B4-3k&lk=3
76  vpQuaternionVector q5(3.0, 4.0, 3.0, -sin(M_PI));
77  vpQuaternionVector q6(3.9, -1.0, -3.0, 4.0);
78  vpQuaternionVector q7 = q5 * q6;
79  std::cout << "q7=" << q7 << std::endl;
80  if (!vpMath::equal(q7.x(), 3.0, std::numeric_limits<double>::epsilon() * 1e4) ||
81  !vpMath::equal(q7.y(), 36.7, std::numeric_limits<double>::epsilon() * 1e4) ||
82  !vpMath::equal(q7.z(), -6.6, std::numeric_limits<double>::epsilon() * 1e4) ||
83  !vpMath::equal(q7.w(), 1.3, std::numeric_limits<double>::epsilon() * 1e4)) {
84  throw vpException(vpException::fatalError, "Problem with multiplication of two quaternions !");
85  }
86 
87  // Test quaternion conjugate
88  vpQuaternionVector q7_conj = q7.conjugate();
89  std::cout << "q7_conj=" << q7_conj << std::endl;
90  if (!vpMath::equal(q7_conj.x(), -3.0, std::numeric_limits<double>::epsilon() * 1e4) ||
91  !vpMath::equal(q7_conj.y(), -36.7, std::numeric_limits<double>::epsilon() * 1e4) ||
92  !vpMath::equal(q7_conj.z(), 6.6, std::numeric_limits<double>::epsilon() * 1e4) ||
93  !vpMath::equal(q7_conj.w(), 1.3, std::numeric_limits<double>::epsilon() * 1e4)) {
94  throw vpException(vpException::fatalError, "Problem with quaternion conjugate !");
95  }
96 
97  // Test quaternion inverse
98  vpQuaternionVector q7_inv = q7.inverse();
99  std::cout << "q7_inv=" << q7_inv << std::endl;
100  if (!vpMath::equal(q7_inv.x(), -0.00214111, 0.000001) || !vpMath::equal(q7_inv.y(), -0.026193, 0.000001) ||
101  !vpMath::equal(q7_inv.z(), 0.00471045, 0.000001) || !vpMath::equal(q7_inv.w(), 0.000927816, 0.000001)) {
102  throw vpException(vpException::fatalError, "Problem with quaternion inverse !");
103  }
104 
105  // Test quaternion norm
106  double q7_norm = q7.magnitude();
107  std::cout << "q7_norm=" << q7_norm << std::endl;
108  if (!vpMath::equal(q7_norm, 37.4318, 0.0001)) {
109  throw vpException(vpException::fatalError, "Problem with quaternion magnitude !");
110  }
111 
112  // Test quaternion normalization
113  q7.normalize();
114  std::cout << "q7_unit=" << q7 << std::endl;
115  if (!vpMath::equal(q7.x(), 0.0801457, 0.00001) || !vpMath::equal(q7.y(), 0.98045, 0.00001) ||
116  !vpMath::equal(q7.z(), -0.176321, 0.00001) || !vpMath::equal(q7.w(), 0.0347298, 0.00001)) {
117  throw vpException(vpException::fatalError, "Problem with quaternion normalization !");
118  }
119 
120  // Test copy constructor
121  vpQuaternionVector q_copy1 = vpQuaternionVector(0, 0, 1, 1);
122  std::cout << "q_copy1=" << q_copy1 << std::endl;
123  vpQuaternionVector q_copy2 = q_copy1;
124  q_copy1.set(1, 0, 1, 10);
125  std::cout << "q_copy1 after set=" << q_copy1 << std::endl;
126  std::cout << "q_copy2=" << q_copy2 << std::endl;
127 
128  // Test assignment operator
129  vpQuaternionVector q_copy3(10, 10, 10, 10);
130  q_copy3 = q_copy1;
131  std::cout << "q_copy3=" << q_copy3 << std::endl;
132 
133  std::cout << "vpQuaternion operations are ok !" << std::endl;
134  return 0;
135  } catch (const vpException &e) {
136  std::cerr << "Catch an exception: " << e << std::endl;
137  return 1;
138  }
139 }
static bool equal(double x, double y, double s=0.001)
Definition: vpMath.h:293
double z() const
Returns z-component of the quaternion.
vpQuaternionVector conjugate() const
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpQuaternionVector inverse() const
Implementation of a rotation vector as quaternion angle minimal representation.
double y() const
Returns y-component of the quaternion.
double x() const
Returns x-component of the quaternion.
double w() const
Returns w-component of the quaternion.
void set(double x, double y, double z, double w)