Visual Servoing Platform  version 3.6.1 under development (2024-12-04)
testTranslationVector.cpp

Test some vpTranslationVector functionalities.

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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.
*
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* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
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*
* 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.
*/
#include <cmath>
#include <vector>
#include <visp3/core/vpTranslationVector.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
bool test(const std::string &s, const vpArray2D<double> &A, const std::vector<double> &bench)
{
static unsigned int cpt = 0;
std::cout << "** Test " << ++cpt << std::endl;
std::cout << s << "(" << A.getRows() << "," << A.getCols() << ") =" << A << std::endl;
if (bench.size() != A.size()) {
std::cout << "Test fails: bad size wrt bench" << std::endl;
return false;
}
for (unsigned int i = 0; i < A.size(); i++) {
if (std::fabs(A.data[i] - bench[i]) > std::fabs(A.data[i]) * std::numeric_limits<double>::epsilon()) {
std::cout << "Test fails: bad content" << std::endl;
return false;
}
}
return true;
}
int main()
{
int err = 1;
{
std::vector<double> bench(3, 0);
if (test("t", t, bench) == false)
return err;
}
{
vpTranslationVector t1(1, 2, 3);
std::vector<double> bench(3);
bench[0] = 1;
bench[1] = 2;
bench[2] = 3;
if (test("t1", t1, bench) == false)
return err;
vpTranslationVector t2(4, 5, 6);
bench[0] = 4;
bench[1] = 5;
bench[2] = 6;
if (test("t2", t2, bench) == false)
return err;
vpTranslationVector t3 = t1 + t2;
bench[0] = 5;
bench[1] = 7;
bench[2] = 9;
if (test("t3", t3, bench) == false)
return err;
vpMatrix skew = t3.skew();
std::vector<double> bench1(9, 0);
bench1[1] = -9;
bench1[2] = 7;
bench1[3] = 9;
bench1[5] = -5;
bench1[6] = -7;
bench1[7] = 5;
if (test("skew", skew, bench1) == false)
return err;
t4.set(-1, -2, -3);
bench[0] = -1;
bench[1] = -2;
bench[2] = -3;
if (test("t4", t4, bench) == false)
return err;
vpTranslationVector t5 = t4 * 2;
bench[0] = -2;
bench[1] = -4;
bench[2] = -6;
if (test("t5", t5, bench) == false)
return err;
bench[0] = 0;
bench[1] = 0;
bench[2] = 0;
if (test("t6", t6, bench) == false)
return err;
}
std::cout << "All tests succeed" << std::endl;
return EXIT_SUCCESS;
}
unsigned int getCols() const
Definition: vpArray2D.h:337
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:148
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:349
unsigned int getRows() const
Definition: vpArray2D.h:347
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Class that consider the case of a translation vector.
void set(double tx, double ty, double tz)
static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b)