Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
testXmlParserHomogeneousMatrix.cpp
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31  * Description:
32  * Test vpXmlParserHomogeneousMatrix parse / save.
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35 
42 #include <visp3/core/vpXmlParserHomogeneousMatrix.h>
43 #include <visp3/core/vpIoTools.h>
44 
45 int main()
46 {
47 #if defined(_WIN32)
48  std::string tmp_dir = "C:/temp/";
49 #else
50  std::string tmp_dir = "/tmp/";
51 #endif
52 
53  // Get the user login name
54  std::string username;
55  vpIoTools::getUserName(username);
56 
57  tmp_dir += username + "/test_xml_parser_homogeneous/";
58  vpIoTools::remove(tmp_dir);
59  std::cout << "Create: " << tmp_dir << std::endl;
60  vpIoTools::makeDirectory(tmp_dir);
61 
62  vpTranslationVector t(0.264, -0.441, 1.284);
63  vpThetaUVector tu(vpMath::rad(12.7), vpMath::rad(-38.23), vpMath::rad(24.45));
64  vpHomogeneousMatrix cMo(t, tu);
65  std::string filename = tmp_dir + "test_write_homogeneous.xml";
66  {
68  std::cout << "Write to: " << filename << std::endl;
69  if (xml.save(cMo, filename, "cMo") != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
70  std::cerr << "Cannot save XML file: " << filename << std::endl;
71  return EXIT_FAILURE;
72  }
73  }
74 
75  vpHomogeneousMatrix cMo_read;
76  {
78  xml.parse(cMo_read, filename, "cMo");
79  std::cout << "cMo write:\n" << cMo << std::endl;
80  std::cout << "cMo read:\n" << cMo_read << std::endl;
81  for (unsigned int i = 0; i < 3; i++) {
82  for (unsigned int j = 0; j < 3; j++) {
83  if (!vpMath::equal(cMo[i][j], cMo_read[i][j], std::numeric_limits<double>::epsilon())) {
84  std::cerr << "Issue when parsing XML file: " << filename << std::endl;
85  return EXIT_FAILURE;
86  }
87  }
88  }
89  }
90 
91  vpIoTools::remove(tmp_dir);
92 
93  return EXIT_SUCCESS;
94 }
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:482
int parse(vpHomogeneousMatrix &M, const std::string &filename, const std::string &name)
Implementation of an homogeneous matrix and operations on such kind of matrices.
static bool equal(double x, double y, double s=0.001)
Definition: vpMath.h:293
int save(const vpHomogeneousMatrix &M, const std::string &filename, const std::string &name)
XML parser to load and save an homogeneous matrix in a file.
static std::string getUserName()
Definition: vpIoTools.cpp:228
static double rad(double deg)
Definition: vpMath.h:110
static bool remove(const std::string &filename)
Definition: vpIoTools.cpp:765
Class that consider the case of a translation vector.
Implementation of a rotation vector as axis-angle minimal representation.