66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*
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* Copyright (C) 2021 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 "media/Twist.h"
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#include "media/QuaternionUtil.h"
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#include "TestUtil.h"
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using Eigen::Quaternionf;
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using Eigen::Vector3f;
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namespace android {
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namespace media {
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namespace {
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TEST(Twist, DefaultCtor) {
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Twist3f twist;
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EXPECT_EQ(twist.translationalVelocity(), Vector3f::Zero());
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EXPECT_EQ(twist.rotationalVelocity(), Vector3f::Zero());
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EXPECT_FLOAT_EQ(twist.scalarRotationalVelocity(), 0);
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EXPECT_FLOAT_EQ(twist.scalarTranslationalVelocity(), 0);
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}
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TEST(Twist, FullCtor) {
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Vector3f rot{1, 2, 3};
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Vector3f trans{4, 5, 6};
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Twist3f twist(trans, rot);
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EXPECT_EQ(twist.translationalVelocity(), trans);
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EXPECT_EQ(twist.rotationalVelocity(), rot);
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EXPECT_FLOAT_EQ(twist.scalarRotationalVelocity(), std::sqrt(14.f));
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EXPECT_FLOAT_EQ(twist.scalarTranslationalVelocity(), std::sqrt(77.f));
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}
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TEST(Twist, Integrate) {
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Vector3f trans{1, 2, 3};
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// 45 deg/sec around Z.
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Vector3f rot{0, 0, M_PI_4};
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Twist3f twist(trans, rot);
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Pose3f pose = integrate(twist, 2.f);
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EXPECT_EQ(pose, Pose3f(Vector3f{2, 4, 6}, rotateZ(M_PI_2)));
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}
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TEST(Twist, Differentiate) {
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Pose3f pose(Vector3f{2, 4, 6}, rotateZ(M_PI_2));
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Twist3f twist = differentiate(pose, 2.f);
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EXPECT_EQ(twist, Twist3f(Vector3f(1, 2, 3), Vector3f(0, 0, M_PI_4)));
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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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