testRotation2.cpp

Test theta.u and quaternion multiplication.

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2022 by Inria. All rights reserved.
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 * Description:
 * Test theta.u and quaternion multiplication.
 *
 *****************************************************************************/
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_CATCH2
 
#include <visp3/core/vpThetaUVector.h>
#include <visp3/core/vpUniRand.h>
 
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
 
namespace
{
vpThetaUVector generateThetaU(vpUniRand &rng)
{
  return vpThetaUVector(
      vpMath::rad(rng.uniform(-180.0, 180.0)) *
      vpColVector({rng.uniform(-1.0, 1.0), rng.uniform(-1.0, 1.0), rng.uniform(-1.0, 1.0)}).normalize());
}
 
vpQuaternionVector generateQuat(vpUniRand &rng)
{
  const double angle = vpMath::rad(rng.uniform(-180.0, 180.0));
  const double ctheta = std::cos(angle);
  const double stheta = std::sin(angle);
  const double ax = rng.uniform(-1.0, 1.0);
  const double ay = rng.uniform(-1.0, 1.0);
  const double az = rng.uniform(-1.0, 1.0);
  return vpQuaternionVector(stheta * ax, stheta * ay, stheta * az, ctheta);
}
} // namespace
 
TEST_CASE("Theta u multiplication", "[theta.u]")
{
  const int nTrials = 100;
  const uint64_t seed = 0x123456789;
  vpUniRand rng(seed);
  for (int iter = 0; iter < nTrials; iter++) {
    const vpThetaUVector tu0 = generateThetaU(rng);
    const vpThetaUVector tu1 = generateThetaU(rng);
 
    const vpRotationMatrix c1Rc2(tu0);
    const vpRotationMatrix c2Rc3(tu1);
    const vpRotationMatrix c1Rc3_ref = c1Rc2 * c2Rc3;
    const vpThetaUVector c1_tu_c3 = tu0 * tu1;
    // two rotation vectors can represent the same rotation,
    // that is why we compare the rotation matrices
    const vpRotationMatrix c1Rc3(c1_tu_c3);
 
    const double tolerance = 1e-9;
    for (unsigned int i = 0; i < 3; i++) {
      for (unsigned int j = 0; j < 3; j++) {
        CHECK(c1Rc3_ref[i][j] == Approx(c1Rc3[i][j]).epsilon(0).margin(tolerance));
      }
    }
  }
}
 
TEST_CASE("Quaternion multiplication", "[quaternion]")
{
  const int nTrials = 100;
  const uint64_t seed = 0x123456789;
  vpUniRand rng(seed);
  for (int iter = 0; iter < nTrials; iter++) {
    const vpQuaternionVector q0 = generateQuat(rng);
    const vpQuaternionVector q1 = generateQuat(rng);
 
    const vpRotationMatrix c1Rc2(q0);
    const vpRotationMatrix c2Rc3(q1);
    const vpRotationMatrix c1Rc3_ref = c1Rc2 * c2Rc3;
 
    const vpQuaternionVector c1_q_c3 = q0 * q1;
    // two quaternions of opposite sign can represent the same rotation,
    // that is why we compare the rotation matrices
    const vpRotationMatrix c1Rc3(c1_q_c3);
 
    const double tolerance = 1e-9;
    for (unsigned int i = 0; i < 3; i++) {
      for (unsigned int j = 0; j < 3; j++) {
        CHECK(c1Rc3_ref[i][j] == Approx(c1Rc3[i][j]).epsilon(0).margin(tolerance));
      }
    }
  }
}
 
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 EXIT_SUCCESS; }
#endif