54 lines
1.4 KiB
C++
54 lines
1.4 KiB
C++
/*
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* Copyright (C) 2022 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <gtest/gtest.h>
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#include "PoseBias.h"
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#include "media/QuaternionUtil.h"
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#include "TestUtil.h"
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namespace android {
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namespace media {
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namespace {
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using Eigen::Quaternionf;
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using Eigen::Vector3f;
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TEST(PoseBias, Initial) {
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PoseBias bias;
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EXPECT_EQ(bias.getOutput(), Pose3f());
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}
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TEST(PoseBias, Basic) {
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Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());
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Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());
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PoseBias bias;
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bias.setInput(pose1);
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EXPECT_EQ(pose1, bias.getOutput());
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bias.recenter();
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EXPECT_EQ(bias.getOutput(), Pose3f());
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bias.setInput(pose2);
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EXPECT_EQ(bias.getOutput(), pose1.inverse() * pose2);
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bias.recenter();
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EXPECT_EQ(bias.getOutput(), Pose3f());
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}
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} // namespace
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} // namespace media
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} // namespace android
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