Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
testTranslationVector.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 * Test some vpColVector functionalities.
33 *
34*****************************************************************************/
35
42#include <cmath>
43#include <limits>
44#include <vector>
45
46#include <visp3/core/vpTranslationVector.h>
47
48bool test(const std::string &s, const vpArray2D<double> &A, const std::vector<double> &bench)
49{
50 static unsigned int cpt = 0;
51 std::cout << "** Test " << ++cpt << std::endl;
52 std::cout << s << "(" << A.getRows() << "," << A.getCols() << ") =" << A << std::endl;
53 if (bench.size() != A.size()) {
54 std::cout << "Test fails: bad size wrt bench" << std::endl;
55 return false;
56 }
57 for (unsigned int i = 0; i < A.size(); i++) {
58 if (std::fabs(A.data[i] - bench[i]) > std::fabs(A.data[i]) * std::numeric_limits<double>::epsilon()) {
59 std::cout << "Test fails: bad content" << std::endl;
60 return false;
61 }
62 }
63
64 return true;
65}
66int main()
67{
68 int err = 1;
69 {
71 std::vector<double> bench(3, 0);
72 if (test("t", t, bench) == false)
73 return err;
74 }
75 {
76 vpTranslationVector t1(1, 2, 3);
77 std::vector<double> bench(3);
78 bench[0] = 1;
79 bench[1] = 2;
80 bench[2] = 3;
81 if (test("t1", t1, bench) == false)
82 return err;
83
84 vpTranslationVector t2(4, 5, 6);
85 bench[0] = 4;
86 bench[1] = 5;
87 bench[2] = 6;
88 if (test("t2", t2, bench) == false)
89 return err;
90
91 vpTranslationVector t3 = t1 + t2;
92 bench[0] = 5;
93 bench[1] = 7;
94 bench[2] = 9;
95 if (test("t3", t3, bench) == false)
96 return err;
97
98 vpMatrix skew = t3.skew();
99 std::vector<double> bench1(9, 0);
100 bench1[1] = -9;
101 bench1[2] = 7;
102 bench1[3] = 9;
103 bench1[5] = -5;
104 bench1[6] = -7;
105 bench1[7] = 5;
106 if (test("skew", skew, bench1) == false)
107 return err;
108
110 t4.set(-1, -2, -3);
111 bench[0] = -1;
112 bench[1] = -2;
113 bench[2] = -3;
114 if (test("t4", t4, bench) == false)
115 return err;
116
117 vpTranslationVector t5 = t4 * 2;
118 bench[0] = -2;
119 bench[1] = -4;
120 bench[2] = -6;
121 if (test("t5", t5, bench) == false)
122 return err;
123
125 bench[0] = 0;
126 bench[1] = 0;
127 bench[2] = 0;
128 if (test("t6", t6, bench) == false)
129 return err;
130 }
131 std::cout << "All tests succeed" << std::endl;
132 return EXIT_SUCCESS;
133}
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 a matrix and operations on matrices.
Definition vpMatrix.h:152
Class that consider the case of a translation vector.
void set(double tx, double ty, double tz)
static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b)