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
{
{
}
{
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);
}
}
TEST_CASE("Theta u multiplication", "[theta.u]")
{
const int nTrials = 100;
const uint64_t seed = 0x123456789;
for (int iter = 0; iter < nTrials; iter++) {
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;
for (int iter = 0; iter < nTrials; iter++) {
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;
session.applyCommandLine(argc, argv);
int numFailed = session.run();
return numFailed;
}
#else
#include <iostream>
int main() { return EXIT_SUCCESS; }
#endif
Implementation of column vector and the associated operations.
static double rad(double deg)
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as axis-angle minimal representation.
Class for generating random numbers with uniform probability density.
int uniform(int a, int b)