Visual Servoing Platform  version 3.6.1 under development (2024-12-13)
testXmlParserHomogeneousMatrix.cpp

Test vpXmlParserHomogeneousMatrix parse / save.

/*
* ViSP, open source Visual Servoing Platform software.
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*
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*
* Description:
* Test vpXmlParserHomogeneousMatrix parse / save.
*/
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpXmlParserHomogeneousMatrix.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if defined(VISP_HAVE_PUGIXML)
std::string tmp_dir = vpIoTools::getTempPath() + "/test_xml_parser_homogeneous/";
std::cout << "Create: " << tmp_dir << std::endl;
vpTranslationVector t(0.264, -0.441, 1.284);
vpThetaUVector tu(vpMath::rad(12.7), vpMath::rad(-38.23), vpMath::rad(24.45));
vpHomogeneousMatrix cMo(t, tu);
std::string filename = tmp_dir + "test_write_homogeneous.xml";
{
std::cout << "Write to: " << filename << std::endl;
if (xml.save(cMo, filename, "cMo") != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
std::cerr << "Cannot save XML file: " << filename << std::endl;
return EXIT_FAILURE;
}
}
{
xml.parse(cMo_read, filename, "cMo");
std::cout << "cMo write:\n" << cMo << std::endl;
std::cout << "cMo read:\n" << cMo_read << std::endl;
for (unsigned int i = 0; i < 3; i++) {
for (unsigned int j = 0; j < 3; j++) {
if (!vpMath::equal(cMo[i][j], cMo_read[i][j], std::numeric_limits<double>::epsilon())) {
std::cerr << "Issue when parsing XML file: " << filename << std::endl;
return EXIT_FAILURE;
}
}
}
}
#endif
return EXIT_SUCCESS;
}
Implementation of an homogeneous matrix and operations on such kind of matrices.
static std::string getTempPath()
Definition: vpIoTools.cpp:189
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:550
static bool remove(const std::string &filename)
Definition: vpIoTools.cpp:921
static double rad(double deg)
Definition: vpMath.h:129
static bool equal(double x, double y, double threshold=0.001)
Definition: vpMath.h:459
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.
XML parser to load and save an homogeneous matrix in a file.
int parse(vpHomogeneousMatrix &M, const std::string &filename, const std::string &name)
int save(const vpHomogeneousMatrix &M, const std::string &filename, const std::string &name)