Visual Servoing Platform  version 3.6.1 under development (2024-10-15)
testXmlParserHomogeneousMatrix.cpp
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30  * Description:
31  * Test vpXmlParserHomogeneousMatrix parse / save.
32  */
33 
40 #include <visp3/core/vpIoTools.h>
41 #include <visp3/core/vpXmlParserHomogeneousMatrix.h>
42 
43 int main()
44 {
45 #ifdef ENABLE_VISP_NAMESPACE
46  using namespace VISP_NAMESPACE_NAME;
47 #endif
48 #if defined(VISP_HAVE_PUGIXML)
49 
50  std::string tmp_dir = vpIoTools::getTempPath() + "/test_xml_parser_homogeneous/";
51 
52  vpIoTools::remove(tmp_dir);
53  std::cout << "Create: " << tmp_dir << std::endl;
54  vpIoTools::makeDirectory(tmp_dir);
55 
56  vpTranslationVector t(0.264, -0.441, 1.284);
57  vpThetaUVector tu(vpMath::rad(12.7), vpMath::rad(-38.23), vpMath::rad(24.45));
58  vpHomogeneousMatrix cMo(t, tu);
59  std::string filename = tmp_dir + "test_write_homogeneous.xml";
60  {
62  std::cout << "Write to: " << filename << std::endl;
63  if (xml.save(cMo, filename, "cMo") != vpXmlParserHomogeneousMatrix::SEQUENCE_OK) {
64  std::cerr << "Cannot save XML file: " << filename << std::endl;
65  return EXIT_FAILURE;
66  }
67  }
68 
69  vpHomogeneousMatrix cMo_read;
70  {
72  xml.parse(cMo_read, filename, "cMo");
73  std::cout << "cMo write:\n" << cMo << std::endl;
74  std::cout << "cMo read:\n" << cMo_read << std::endl;
75  for (unsigned int i = 0; i < 3; i++) {
76  for (unsigned int j = 0; j < 3; j++) {
77  if (!vpMath::equal(cMo[i][j], cMo_read[i][j], std::numeric_limits<double>::epsilon())) {
78  std::cerr << "Issue when parsing XML file: " << filename << std::endl;
79  return EXIT_FAILURE;
80  }
81  }
82  }
83  }
84 
85  vpIoTools::remove(tmp_dir);
86 #endif
87 
88  return EXIT_SUCCESS;
89 }
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)