Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testXmlParserHomogeneousMatrix.cpp
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31  * Description:
32  * Test vpXmlParserHomogeneousMatrix parse / save.
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35 
42 #include <visp3/core/vpIoTools.h>
43 #include <visp3/core/vpXmlParserHomogeneousMatrix.h>
44 
45 int main()
46 {
47 #if defined(VISP_HAVE_PUGIXML)
48 #if defined(_WIN32)
49  std::string tmp_dir = "C:/temp/";
50 #else
51  std::string tmp_dir = "/tmp/";
52 #endif
53 
54  // Get the user login name
55  std::string username;
56  vpIoTools::getUserName(username);
57 
58  tmp_dir += username + "/test_xml_parser_homogeneous/";
59  vpIoTools::remove(tmp_dir);
60  std::cout << "Create: " << tmp_dir << std::endl;
61  vpIoTools::makeDirectory(tmp_dir);
62 
63  vpTranslationVector t(0.264, -0.441, 1.284);
64  vpThetaUVector tu(vpMath::rad(12.7), vpMath::rad(-38.23), vpMath::rad(24.45));
65  vpHomogeneousMatrix cMo(t, tu);
66  std::string filename = tmp_dir + "test_write_homogeneous.xml";
67  {
69  std::cout << "Write to: " << filename << std::endl;
70  if (xml.save(cMo, filename, "cMo") != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
71  std::cerr << "Cannot save XML file: " << filename << std::endl;
72  return EXIT_FAILURE;
73  }
74  }
75 
76  vpHomogeneousMatrix cMo_read;
77  {
79  xml.parse(cMo_read, filename, "cMo");
80  std::cout << "cMo write:\n" << cMo << std::endl;
81  std::cout << "cMo read:\n" << cMo_read << std::endl;
82  for (unsigned int i = 0; i < 3; i++) {
83  for (unsigned int j = 0; j < 3; j++) {
84  if (!vpMath::equal(cMo[i][j], cMo_read[i][j], std::numeric_limits<double>::epsilon())) {
85  std::cerr << "Issue when parsing XML file: " << filename << std::endl;
86  return EXIT_FAILURE;
87  }
88  }
89  }
90  }
91 
92  vpIoTools::remove(tmp_dir);
93 #endif
94 
95  return EXIT_SUCCESS;
96 }
Implementation of an homogeneous matrix and operations on such kind of matrices.
static std::string getUserName()
Definition: vpIoTools.cpp:711
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:972
static bool remove(const std::string &filename)
Definition: vpIoTools.cpp:1339
static double rad(double deg)
Definition: vpMath.h:127
static bool equal(double x, double y, double threshold=0.001)
Definition: vpMath.h:449
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)