[ViewVC] Diff of: group/trunk/OOPSE-4/test/math/SquareMatrix3TestCase.cpp

Comparing trunk/OOPSE-4/test/math/SquareMatrix3TestCase.cpp (file contents):
Revision 1603 by tim, Tue Oct 19 21:28:55 2004 UTC vs.
Revision 1606 by tim, Tue Oct 19 23:01:03 2004 UTC

+void SquareMatrix3TestCase::testSetupRotationMatrix(){
+    //test setupRotationMatrix by quaternion
-+
+    RotMat3x3d m1L(0.0, -0.6, 0.0, -0.8);
-+
+    RotMat3x3d m1R;
-+
+    m1R(0,0) = -0.28;
-+
+    m1R(0,1) =  0;
-+
+    m1R(0,2) =  0.96;
-+
+    m1R(1,0) =  0.0;
-+
+    m1R(1,1) = -1.0;
-+
+    m1R(1,2) =  0.0;
-+
+    m1R(2,0) = 0.96;
-+
+    m1R(2,1) = 0;
-+
+    m1R(2,2) = 0.28;
-+
+    CPPUNIT_ASSERT(m1L == m1R);
-+
-+
+    Quat4d q1(0.0, -0.6, 0.0, -0.8);
-+
+    RotMat3x3d m2L(q1);
-+
+    RotMat3x3d m2R(m1R);
-+
+    CPPUNIT_ASSERT(m2L == m2R);
-+
+    //test setupRotationMatrix by euler angles
-+
+    Vector3d v1(0.0, M_PI/2.0, 0.0);
-+
+    RotMat3x3d m3L(v1);
-+
+    RotMat3x3d m3R;
-+
+    m3R(0,0) = 1.0;
-+
+    m3R(0,1) = 0;
-+
+    m3R(0,2) = 0.0;
-+
+    m3R(1,0) = 0.0;
-+
+    m3R(1,1) = 0.0;
-+
+    m3R(1,2) = 1.0;
-+
+    m3R(2,0) = 0.0;
-+
+    m3R(2,1) = -1.0;
-+
+    m3R(2,2) = 0.0;
-+
+    CPPUNIT_ASSERT( m3L == m3R);
-+
-+
+    RotMat3x3d m4L(0.0, M_PI/2.0, 0.0);
-+
+    RotMat3x3d m4R = m3R;
-+
+    CPPUNIT_ASSERT( m4L == m4R);
-+
-+
+    Vector3d v2(M_PI/4.0, M_PI/4.0, M_PI/4.0);
-+
+    RotMat3x3d m5L(v2);
-+
+    RotMat3x3d m5R;
-+
+    double root2Over4 = sqrt(2)/4.0;
-+
+    m5R(0,0) = 0.5 - root2Over4;
-+
+    m5R(0,1) = 0.5 + root2Over4;
-+
+    m5R(0,2) = 0.5;
-+
+    m5R(1,0) = -0.5 -root2Over4;
-+
+    m5R(1,1) = -0.5 + root2Over4;
-+
+    m5R(1,2) = 0.5;
-+
+    m5R(2,0) = 0.5;
-+
+    m5R(2,1) = -0.5;
-+
+    m5R(2,2) = sqrt(2)/2.0;
-+
+    CPPUNIT_ASSERT( m5L == m5R);
-+
-+
+void SquareMatrix3TestCase::testOtherMemberFunctions() {
+    //test inverse
-+
+    RotMat3x3d ident = RotMat3x3d::identity();
-+
+    CPPUNIT_ASSERT(ident == ident.inverse());
-<
->
+    RotMat3x3d m1;
->
+    m1(0,0) = 1.0;
->
+    m1(0,1) = 5.0;
->
+    m1(0,2) = 3.0;
->
+    m1(1,0) = 3.0;
->
+    m1(1,1) = 1.0;
->
+    m1(1,2) = 2.0;
->
+    m1(2,0) = 0.0;
->
+    m1(2,1) = -21.0;
->
+    m1(2,2) = -81.0;
->
->
+    CPPUNIT_ASSERT(m1 == (m1.inverse()).inverse());
->
+    //test determinant
-+
+    RotMat3x3d m2;
-+
+    m2(0,0) = 1.0;
-+
+    m2(0,1) = 5.0;
-+
+    m2(0,2) = 3.0;
-+
+    m2(1,0) = 6.0;
-+
+    m2(1,1) = 0.0;
-+
+    m2(1,2) = 2.0;
-+
+    m2(2,0) = 0.0;
-+
+    m2(2,1) = -1.0;
-+
+    m2(2,2) = 1.0;
-+
+    CPPUNIT_ASSERT_DOUBLES_EQUAL(m2.determinant(), -46.0, oopse::epsilon);
+void SquareMatrix3TestCase::testTransformation(){
+    //test toQuaternion
-+
+    RotMat3x3d m1;
-+
+    Quat4d q1L;
-+
+    Quat4d q1R(0.0, -0.6, 0.0, -0.8);
-+
+    m1(0,0) = -0.28;
-+
+    m1(0,1) =  0;
-+
+    m1(0,2) =  0.96;
-+
+    m1(1,0) =  0.0;
-+
+    m1(1,1) = -1.0;
-+
+    m1(1,2) =  0.0;
-+
+    m1(2,0) = 0.96;
-+
+    m1(2,1) = 0;
-+
+    m1(2,2) = 0.28;
-+
+    q1L = m1.toQuaternion();
-+
+    //CPPUNIT_ASSERT( q1L == q1R);
-+
+    RotMat3x3d m2;
-+
+    Quat4d q2L(0.4, -0.6, 0.3, -0.8);
-+
+    Quat4d q2R;
-+
+    q2L.normalize();
-+
-+
+    m2 = q2L.toRotationMatrix3();
-+
+    q2R = m2.toQuaternion();
-+
+    CPPUNIT_ASSERT( q2L == q2R);
-+
+    //test toEuler
-+
+    Vector3d v1L;
-+
+    Vector3d v1R(M_PI/4.0, M_PI/4.0, M_PI/4.0);
-+
+    RotMat3x3d m3;
-+
+    double root2Over4 = sqrt(2)/4.0;
-+
+    m3(0,0) = 0.5 - root2Over4;
-+
+    m3(0,1) = 0.5 + root2Over4;
-+
+    m3(0,2) = 0.5;
-+
+    m3(1,0) = -0.5 -root2Over4;
-+
+    m3(1,1) = -0.5 + root2Over4;
-+
+    m3(1,2) = 0.5;
-+
+    m3(2,0) = 0.5;
-+
+    m3(2,1) = -0.5;
-+
+    m3(2,2) = sqrt(2)/2.0;
-+
+    v1L = m3.toEulerAngles();
-+
+    CPPUNIT_ASSERT( v1L == v1R);
+    //test diagonalize
-+
-+
+    RotMat3x3d m4;
-+
+    RotMat3x3d a;
-+
+    Vector3d w;
-+
+    RotMat3x3d v;
-+
+    m4(0,0) = 1.0;
-+
+    m4(0,1) = 5.0;
-+
+    m4(0,2) = 3.0;
-+
+    m4(1,0) = 3.0;
-+
+    m4(1,1) = 1.0;
-+
+    m4(1,2) = 2.0;
-+
+    m4(2,0) = 0.0;
-+
+    m4(2,1) = -21.0;
-+
+    m4(2,2) = -81.0;
-+
+    m4.diagonalize(a, w, v);
-+
-+
+    std::cout << std::endl;
-+
+    std::cout << a << std::endl;
-+
-+
+    std::cout << std::endl;
-+
+    std::cout << w << std::endl;
-+
-+
+    std::cout << std::endl;
-+
+    std::cout << v << std::endl;
-+

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Comparing trunk/OOPSE-4/test/math/SquareMatrix3TestCase.cpp (file contents): Revision 1603 by tim, Tue Oct 19 21:28:55 2004 UTC vs. Revision 1606 by tim, Tue Oct 19 23:01:03 2004 UTC

Diff Legend

Comparing trunk/OOPSE-4/test/math/SquareMatrix3TestCase.cpp (file contents):
Revision 1603 by tim, Tue Oct 19 21:28:55 2004 UTC vs.
Revision 1606 by tim, Tue Oct 19 23:01:03 2004 UTC