Visual Servoing Platform version 3.6.0
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testRotation.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Tests transformation from various representations of rotation.
33 *
34*****************************************************************************/
35
41#include <visp3/core/vpMath.h>
42#include <visp3/core/vpQuaternionVector.h>
43#include <visp3/core/vpRotationMatrix.h>
44#include <visp3/io/vpParseArgv.h>
45
46#include <cassert>
47#include <limits>
48#include <stdio.h>
49#include <stdlib.h>
50
51static unsigned int cpt = 0;
52
53bool test(const std::string &s, const vpArray2D<double> &v, const std::vector<double> &bench)
54{
55 std::cout << "** Test " << ++cpt << std::endl;
56 std::cout << s << "(" << v.getRows() << "," << v.getCols() << ") = [" << v << "]" << std::endl;
57 if (bench.size() != v.size()) {
58 std::cout << "Test fails: bad size wrt bench" << std::endl;
59 return false;
60 }
61 for (unsigned int i = 0; i < v.size(); i++) {
62 if (std::fabs(v.data[i] - bench[i]) > std::fabs(v.data[i]) * std::numeric_limits<double>::epsilon()) {
63 std::cout << "Test fails: bad content" << std::endl;
64 return false;
65 }
66 }
67
68 return true;
69}
70
71bool test(const std::string &s, const vpArray2D<double> &v, const vpColVector &bench)
72{
73 std::cout << "** Test " << ++cpt << std::endl;
74 std::cout << s << "(" << v.getRows() << "," << v.getCols() << ") = [" << v << "]" << std::endl;
75 if (bench.size() != v.size()) {
76 std::cout << "Test fails: bad size wrt bench" << std::endl;
77 return false;
78 }
79 for (unsigned int i = 0; i < v.size(); i++) {
80 if (std::fabs(v.data[i] - bench[i]) > std::fabs(v.data[i]) * std::numeric_limits<double>::epsilon()) {
81 std::cout << "Test fails: bad content" << std::endl;
82 return false;
83 }
84 }
85
86 return true;
87}
88
89bool test(const std::string &s, const vpRotationVector &v, const double &bench)
90{
91 std::cout << "** Test " << ++cpt << std::endl;
92 std::cout << s << "(" << v.getRows() << "," << v.getCols() << ") = [" << v << "]" << std::endl;
93 for (unsigned int i = 0; i < v.size(); i++) {
94 if (std::fabs(v[i] - bench) > std::fabs(v[i]) * std::numeric_limits<double>::epsilon()) {
95 std::cout << "Test fails: bad content" << std::endl;
96 return false;
97 }
98 }
99
100 return true;
101}
102
103bool test_matrix_equal(const vpHomogeneousMatrix &M1, const vpHomogeneousMatrix &M2, double epsilon = 1e-10)
104{
105 for (unsigned int i = 0; i < 4; i++) {
106 for (unsigned int j = 0; j < 4; j++) {
107 if (!vpMath::equal(M1[i][j], M2[i][j], epsilon)) {
108 return false;
109 }
110 }
111 }
112 return true;
113}
114
115int main()
116{
117 try {
118 {
120 std::vector<double> bench1(3, vpMath::rad(10));
121 vpColVector bench3(3, vpMath::rad(10));
122 if (test("r1", r1, bench1) == false)
123 return EXIT_FAILURE;
124
125 bench1.clear();
126 bench1 = r1.toStdVector();
127 if (test("r1", r1, bench1) == false)
128 return EXIT_FAILURE;
129
130 r1.buildFrom(bench3);
131 if (test("r1", r1, bench3) == false)
132 return EXIT_FAILURE;
133
134 vpThetaUVector r2 = r1;
135 if (test("r2", r2, bench1) == false)
136 return EXIT_FAILURE;
137
138 if (test("r2", r2, vpMath::rad(10)) == false)
139 return EXIT_FAILURE;
140
142 r3 = vpMath::rad(10);
143 if (test("r3", r3, bench1) == false)
144 return EXIT_FAILURE;
145
146 std::cout << "** Test " << ++cpt << std::endl;
147 for (unsigned int i = 0; i < r3.size(); i++) {
148 if (std::fabs(r3[i] - bench1[i]) > std::fabs(r3[i]) * std::numeric_limits<double>::epsilon()) {
149 std::cout << "Test fails: bad content" << std::endl;
150 return EXIT_FAILURE;
151 }
152 }
153
154 vpColVector r4 = 0.5 * r1;
155 std::vector<double> bench2(3, vpMath::rad(5));
156 if (test("r4", r4, bench2) == false)
157 return EXIT_FAILURE;
158
159 vpThetaUVector r5(r3);
160 if (test("r5", r5, bench1) == false)
161 return EXIT_FAILURE;
162 }
163 {
165 std::vector<double> bench1(3, vpMath::rad(10));
166 vpColVector bench3(3, vpMath::rad(10));
167 if (test("r1", r1, bench1) == false)
168 return EXIT_FAILURE;
169
170 bench1.clear();
171 bench1 = r1.toStdVector();
172 if (test("r1", r1, bench1) == false)
173 return EXIT_FAILURE;
174
175 r1.buildFrom(bench3);
176 if (test("r1", r1, bench3) == false)
177 return EXIT_FAILURE;
178
179 vpRxyzVector r2 = r1;
180 if (test("r2", r2, bench1) == false)
181 return EXIT_FAILURE;
182
183 if (test("r2", r2, vpMath::rad(10)) == false)
184 return EXIT_FAILURE;
185
186 vpRxyzVector r3;
187 r3 = vpMath::rad(10);
188 if (test("r3", r3, bench1) == false)
189 return EXIT_FAILURE;
190
191 std::cout << "** Test " << ++cpt << std::endl;
192 for (unsigned int i = 0; i < r3.size(); i++) {
193 if (std::fabs(r3[i] - bench1[i]) > std::fabs(r3[i]) * std::numeric_limits<double>::epsilon()) {
194 std::cout << "Test fails: bad content" << std::endl;
195 return EXIT_FAILURE;
196 }
197 }
198
199 vpColVector r4 = 0.5 * r1;
200 std::vector<double> bench2(3, vpMath::rad(5));
201 if (test("r4", r4, bench2) == false)
202 return EXIT_FAILURE;
203
204 vpRxyzVector r5(r3);
205 if (test("r5", r5, bench1) == false)
206 return EXIT_FAILURE;
207 }
208 {
210 std::vector<double> bench1(3, vpMath::rad(10));
211 vpColVector bench3(3, vpMath::rad(10));
212 if (test("r1", r1, bench1) == false)
213 return EXIT_FAILURE;
214
215 bench1.clear();
216 bench1 = r1.toStdVector();
217 if (test("r1", r1, bench1) == false)
218 return EXIT_FAILURE;
219
220 r1.buildFrom(bench3);
221 if (test("r1", r1, bench3) == false)
222 return EXIT_FAILURE;
223
224 vpRzyxVector r2 = r1;
225 if (test("r2", r2, bench1) == false)
226 return EXIT_FAILURE;
227
228 if (test("r2", r2, vpMath::rad(10)) == false)
229 return EXIT_FAILURE;
230
231 vpRzyxVector r3;
232 r3 = vpMath::rad(10);
233 if (test("r3", r3, bench1) == false)
234 return EXIT_FAILURE;
235
236 std::cout << "** Test " << ++cpt << std::endl;
237 for (unsigned int i = 0; i < r3.size(); i++) {
238 if (std::fabs(r3[i] - bench1[i]) > std::fabs(r3[i]) * std::numeric_limits<double>::epsilon()) {
239 std::cout << "Test fails: bad content" << std::endl;
240 return EXIT_FAILURE;
241 }
242 }
243
244 vpColVector r4 = 0.5 * r1;
245 std::vector<double> bench2(3, vpMath::rad(5));
246 if (test("r4", r4, bench2) == false)
247 return EXIT_FAILURE;
248
249 vpRzyxVector r5(r3);
250 if (test("r5", r5, bench1) == false)
251 return EXIT_FAILURE;
252 }
253 {
255 std::vector<double> bench1(3, vpMath::rad(10));
256 vpColVector bench3(3, vpMath::rad(10));
257 if (test("r1", r1, bench1) == false)
258 return EXIT_FAILURE;
259
260 bench1.clear();
261 bench1 = r1.toStdVector();
262 if (test("r1", r1, bench1) == false)
263 return EXIT_FAILURE;
264
265 r1.buildFrom(bench3);
266 if (test("r1", r1, bench3) == false)
267 return EXIT_FAILURE;
268
269 vpRzyzVector r2 = r1;
270 if (test("r2", r2, bench1) == false)
271 return EXIT_FAILURE;
272
273 if (test("r2", r2, vpMath::rad(10)) == false)
274 return EXIT_FAILURE;
275
276 vpRzyzVector r3;
277 r3 = vpMath::rad(10);
278 if (test("r3", r3, bench1) == false)
279 return EXIT_FAILURE;
280
281 std::cout << "** Test " << ++cpt << std::endl;
282 for (unsigned int i = 0; i < r3.size(); i++) {
283 if (std::fabs(r3[i] - bench1[i]) > std::fabs(r3[i]) * std::numeric_limits<double>::epsilon()) {
284 std::cout << "Test fails: bad content" << std::endl;
285 return EXIT_FAILURE;
286 }
287 }
288
289 vpColVector r4 = 0.5 * r1;
290 std::vector<double> bench2(3, vpMath::rad(5));
291 if (test("r4", r4, bench2) == false)
292 return EXIT_FAILURE;
293
294 vpRzyzVector r5(r3);
295 if (test("r5", r5, bench1) == false)
296 return EXIT_FAILURE;
297 }
298 {
300 std::vector<double> bench1(4, vpMath::rad(10));
301 vpColVector bench3(4, vpMath::rad(10));
302 if (test("r1", r1, bench1) == false)
303 return EXIT_FAILURE;
304
305 bench1.clear();
306 bench1 = r1.toStdVector();
307 if (test("r1", r1, bench1) == false)
308 return EXIT_FAILURE;
309
310 r1.buildFrom(bench3);
311 if (test("r1", r1, bench3) == false)
312 return EXIT_FAILURE;
313
314 vpQuaternionVector r2 = r1;
315 if (test("r2", r2, bench1) == false)
316 return EXIT_FAILURE;
317
318 if (test("r2", r2, vpMath::rad(10)) == false)
319 return EXIT_FAILURE;
320
322 r3.set(vpMath::rad(10), vpMath::rad(10), vpMath::rad(10), vpMath::rad(10));
323 if (test("r3", r3, bench1) == false)
324 return EXIT_FAILURE;
325
326 std::cout << "** Test " << ++cpt << std::endl;
327 for (unsigned int i = 0; i < r3.size(); i++) {
328 if (std::fabs(r3[i] - bench1[i]) > std::fabs(r3[i]) * std::numeric_limits<double>::epsilon()) {
329 std::cout << "Test fails: bad content" << std::endl;
330 return EXIT_FAILURE;
331 }
332 }
333
334 vpColVector r4 = 0.5 * r1;
335 std::vector<double> bench2(4, vpMath::rad(5));
336 if (test("r4", r4, bench2) == false)
337 return EXIT_FAILURE;
338
339 vpQuaternionVector r5(r3);
340 if (test("r5", r5, bench1) == false)
341 return EXIT_FAILURE;
342 }
343 {
345 for (int i = -10; i < 10; i++) {
346 for (int j = -10; j < 10; j++) {
347 vpThetaUVector tu(vpMath::rad(90 + i), vpMath::rad(170 + j), vpMath::rad(45));
348 tu.buildFrom(vpRotationMatrix(tu)); // put some coherence into rotation convention
349
350 std::cout << "Initialization " << std::endl;
351
352 double theta;
353 vpColVector u;
354 tu.extract(theta, u);
355
356 std::cout << "theta=" << vpMath::deg(theta) << std::endl;
357 std::cout << "u=" << u << std::endl;
358
359 std::cout << "From vpThetaUVector to vpRotationMatrix " << std::endl;
360 R.buildFrom(tu);
361
362 std::cout << "Matrix R";
363 if (R.isARotationMatrix() == 1)
364 std::cout << " is a rotation matrix " << std::endl;
365 else
366 std::cout << " is not a rotation matrix " << std::endl;
367
368 std::cout << R << std::endl;
369
370 std::cout << "From vpRotationMatrix to vpQuaternionVector " << std::endl;
372 std::cout << q << std::endl;
373
374 R.buildFrom(q);
375 std::cout << "From vpQuaternionVector to vpRotationMatrix " << std::endl;
376
377 std::cout << "From vpRotationMatrix to vpRxyzVector " << std::endl;
378 vpRxyzVector RxyzBuildFromR(R);
379 std::cout << RxyzBuildFromR << std::endl;
380
381 std::cout << "From vpRxyzVector to vpThetaUVector " << std::endl;
382 std::cout << " use From vpRxyzVector to vpRotationMatrix " << std::endl;
383 std::cout << " use From vpRotationMatrix to vpThetaUVector " << std::endl;
384
385 vpThetaUVector tuBuildFromEu;
386 tuBuildFromEu.buildFrom(R);
387
388 std::cout << std::endl;
389 std::cout << "result : should equivalent to the first one " << std::endl;
390
391 double theta2;
392 vpColVector u2;
393
394 tuBuildFromEu.extract(theta2, u2);
395 std::cout << "theta=" << vpMath::deg(theta2) << std::endl;
396 std::cout << "u=" << u2 << std::endl;
397
398 assert(vpMath::abs(theta2 - theta) < std::numeric_limits<double>::epsilon() * 1e10);
399 assert(vpMath::abs(u[0] - u2[0]) < std::numeric_limits<double>::epsilon() * 1e10);
400 assert(vpMath::abs(u[1] - u2[1]) < std::numeric_limits<double>::epsilon() * 1e10);
401 assert(vpMath::abs(u[2] - u2[2]) < std::numeric_limits<double>::epsilon() * 1e10);
402 }
403 vpRzyzVector rzyz(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45));
404 std::cout << "Initialization vpRzyzVector " << std::endl;
405 std::cout << rzyz << std::endl;
406 std::cout << "From vpRzyzVector to vpRotationMatrix " << std::endl;
407 R.buildFrom(rzyz);
408 std::cout << "From vpRotationMatrix to vpRzyzVector " << std::endl;
409 vpRzyzVector rzyz_final;
410 rzyz_final.buildFrom(R);
411 std::cout << rzyz_final << std::endl;
412
413 vpRzyxVector rzyx(vpMath::rad(180), vpMath::rad(120), vpMath::rad(45));
414 std::cout << "Initialization vpRzyxVector " << std::endl;
415 std::cout << rzyx << std::endl;
416 std::cout << "From vpRzyxVector to vpRotationMatrix " << std::endl;
417 R.buildFrom(rzyx);
418 std::cout << R << std::endl;
419 std::cout << "From vpRotationMatrix to vpRzyxVector " << std::endl;
420 vpRzyxVector rzyx_final;
421 rzyx_final.buildFrom(R);
422 std::cout << rzyx_final << std::endl;
423 }
424 }
425 {
426 // Test rotation_matrix * homogeneous_matrix
427 vpHomogeneousMatrix _1_M_2_truth;
428 _1_M_2_truth[0][0] = 0.9835;
429 _1_M_2_truth[0][1] = -0.0581;
430 _1_M_2_truth[0][2] = 0.1716;
431 _1_M_2_truth[0][3] = 0;
432 _1_M_2_truth[1][0] = -0.0489;
433 _1_M_2_truth[1][1] = -0.9972;
434 _1_M_2_truth[1][2] = -0.0571;
435 _1_M_2_truth[1][3] = 0;
436 _1_M_2_truth[2][0] = 0.1744;
437 _1_M_2_truth[2][1] = 0.0478;
438 _1_M_2_truth[2][2] = -0.9835;
439 _1_M_2_truth[2][3] = 0;
440 vpHomogeneousMatrix _2_M_3_;
441 _2_M_3_[0][0] = 0.9835;
442 _2_M_3_[0][1] = -0.0581;
443 _2_M_3_[0][2] = 0.1716;
444 _2_M_3_[0][3] = 0.0072;
445 _2_M_3_[1][0] = -0.0489;
446 _2_M_3_[1][1] = -0.9972;
447 _2_M_3_[1][2] = -0.0571;
448 _2_M_3_[1][3] = 0.0352;
449 _2_M_3_[2][0] = 0.1744;
450 _2_M_3_[2][1] = 0.0478;
451 _2_M_3_[2][2] = -0.9835;
452 _2_M_3_[2][3] = 0.9470;
453
454 vpRotationMatrix _1_R_2_ = _1_M_2_truth.getRotationMatrix();
455 vpHomogeneousMatrix _1_M_3_(_1_R_2_* _2_M_3_);
456 vpHomogeneousMatrix _1_M_3_truth(_1_M_2_truth * _2_M_3_);
457 bool success = test_matrix_equal(_1_M_3_, _1_M_3_truth);
458 std::cout << "Test vpHomogeneousMatrix vpRotationMatrix::operator*(vpHomogeneousMatrix) " << (success ? "succeed" : "failed") << std::endl;
459 if (!success) {
460 return EXIT_FAILURE;
461 }
462 }
463 std::cout << "All tests succeed" << std::endl;
464 return EXIT_SUCCESS;
465 }
466 catch (const vpException &e) {
467 std::cout << "Catch an exception: " << e << std::endl;
468 return EXIT_FAILURE;
469 }
470}
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition vpArray2D.h:131
unsigned int getCols() const
Definition vpArray2D.h:280
Type * data
Address of the first element of the data array.
Definition vpArray2D.h:144
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
unsigned int getRows() const
Definition vpArray2D.h:290
Implementation of column vector and the associated operations.
vpColVector extract(unsigned int r, unsigned int colsize) const
error that can be emitted by ViSP classes.
Definition vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
static double rad(double deg)
Definition vpMath.h:116
static Type abs(const Type &x)
Definition vpMath.h:187
static bool equal(double x, double y, double threshold=0.001)
Definition vpMath.h:369
static double deg(double rad)
Definition vpMath.h:106
Implementation of a rotation vector as quaternion angle minimal representation.
void set(double x, double y, double z, double w)
Implementation of a rotation matrix and operations on such kind of matrices.
bool isARotationMatrix(double threshold=1e-6) const
vpRotationMatrix buildFrom(const vpHomogeneousMatrix &M)
Implementation of a generic rotation vector.
Implementation of a rotation vector as Euler angle minimal representation.
Implementation of a rotation vector as Euler angle minimal representation.
vpRzyxVector buildFrom(const vpRotationMatrix &R)
Implementation of a rotation vector as Euler angle minimal representation.
vpRzyzVector buildFrom(const vpRotationMatrix &R)
Implementation of a rotation vector as axis-angle minimal representation.
void extract(double &theta, vpColVector &u) const
vpThetaUVector buildFrom(const vpHomogeneousMatrix &M)