orocos_kdl: orocos_kdl: framestest.cpp Source File

00001 #include <math.h>
00002 #include "framestest.hpp"
00003 #include <frames_io.hpp>
00004 CPPUNIT_TEST_SUITE_REGISTRATION( FramesTest );
00005 
00006 using namespace KDL;
00007 
00008 void FramesTest::setUp()
00009 {
00010 }
00011 
00012 void FramesTest::tearDown()
00013 {
00014 }
00015 
00016 void FramesTest::TestVector2(Vector& v) {
00017     Vector   v2;
00018     CPPUNIT_ASSERT_EQUAL(2*v-v,v);
00019         CPPUNIT_ASSERT_EQUAL(v*2-v,v);
00020         CPPUNIT_ASSERT_EQUAL(v+v+v-2*v,v);
00021         v2=v;
00022         CPPUNIT_ASSERT_EQUAL(v,v2);
00023         v2+=v;
00024         CPPUNIT_ASSERT_EQUAL(2*v,v2);
00025         v2-=v;
00026         CPPUNIT_ASSERT_EQUAL(v,v2);
00027         v2.ReverseSign();
00028         CPPUNIT_ASSERT_EQUAL(v,-v2);
00029 }
00030 
00031 void FramesTest::TestVector() {
00032         Vector   v(3,4,5);
00033         TestVector2(v);
00034         Vector   v2(0,0,0);
00035         TestVector2(v2);
00036         
00037         Vector nu(0,0,0);
00038         CPPUNIT_ASSERT_EQUAL(nu.Norm(),0.0);
00039         Vector nu2(10,0,0);
00040         CPPUNIT_ASSERT_EQUAL(nu2.Norm(),10.0);
00041 }
00042 
00043 void FramesTest::TestTwist2(Twist& t) {
00044         Twist t2(Vector(16,-3,5),Vector(-4,2,1));
00045 
00046         CPPUNIT_ASSERT_EQUAL(2*t-t,t);
00047         CPPUNIT_ASSERT_EQUAL(t*2-t,t);
00048         CPPUNIT_ASSERT_EQUAL(t+t+t-2*t,t);
00049         t2=t;
00050         CPPUNIT_ASSERT_EQUAL(t,t2);
00051         t2+=t;
00052         CPPUNIT_ASSERT_EQUAL(2*t,t2);
00053         t2-=t;
00054         CPPUNIT_ASSERT_EQUAL(t,t2);
00055         t.ReverseSign();
00056         CPPUNIT_ASSERT_EQUAL(t,-t2);
00057 }
00058 
00059 void FramesTest::TestTwist() {
00060         Twist    t(Vector(6,3,5),Vector(4,-2,7));
00061         TestTwist2(t);
00062         Twist    t2(Vector(0,0,0),Vector(0,0,0));
00063         TestTwist2(t2); 
00064         Twist    t3(Vector(0,-9,-3),Vector(1,-2,-4));
00065         TestTwist2(t3); 
00066 }
00067 
00068 void FramesTest::TestWrench2(Wrench& w) {
00069         // Wrench
00070         Wrench   w2;    
00071         CPPUNIT_ASSERT_EQUAL(2*w-w,w);
00072         CPPUNIT_ASSERT_EQUAL(w*2-w,w);
00073         CPPUNIT_ASSERT_EQUAL(w+w+w-2*w,w);
00074         w2=w;
00075         CPPUNIT_ASSERT_EQUAL(w,w2);
00076         w2+=w;
00077         CPPUNIT_ASSERT_EQUAL(2*w,w2);
00078         w2-=w;
00079         CPPUNIT_ASSERT_EQUAL(w,w2);
00080         w.ReverseSign();
00081         CPPUNIT_ASSERT_EQUAL(w,-w2);
00082 }
00083 
00084 void FramesTest::TestWrench() {
00085         Wrench   w(Vector(7,-1,3),Vector(2,-3,3));
00086         TestWrench2(w);
00087         Wrench   w2(Vector(0,0,0),Vector(0,0,0));
00088         TestWrench2(w2);
00089         Wrench   w3(Vector(2,1,4),Vector(5,3,1));
00090         TestWrench2(w3);                
00091 }
00092 
00093 void FramesTest::TestRotation2(const Vector& v,double a,double b,double c) {
00094         Vector   v2; 
00095         // Wrench
00096         Wrench   w(Vector(7,-1,3),Vector(2,-3,3));
00097         Twist    t(Vector(6,3,5),Vector(4,-2,7));
00098         // Rotation             
00099         Rotation R;
00100         Rotation R2;
00101         double ra;
00102         double rb;
00103         double rc;
00104     R = Rotation::RPY(a,b,c);
00105 
00106     CPPUNIT_ASSERT_DOUBLES_EQUAL(dot(R.UnitX(),R.UnitX()),1.0,epsilon);
00107         CPPUNIT_ASSERT_DOUBLES_EQUAL(dot(R.UnitY(),R.UnitY()),1.0,epsilon);
00108         CPPUNIT_ASSERT_DOUBLES_EQUAL(dot(R.UnitZ(),R.UnitZ()),1.0,epsilon);
00109         CPPUNIT_ASSERT_DOUBLES_EQUAL(dot(R.UnitX(),R.UnitY()),0.0,epsilon);
00110         CPPUNIT_ASSERT_DOUBLES_EQUAL(dot(R.UnitX(),R.UnitZ()),0.0,epsilon);
00111         CPPUNIT_ASSERT_DOUBLES_EQUAL(dot(R.UnitY(),R.UnitZ()),0.0,epsilon);
00112         R2=R;
00113         CPPUNIT_ASSERT_EQUAL(R,R2);
00114         CPPUNIT_ASSERT_DOUBLES_EQUAL((R*v).Norm(),v.Norm(),epsilon);
00115         CPPUNIT_ASSERT_EQUAL(R.Inverse(R*v),v);
00116         CPPUNIT_ASSERT_EQUAL(R.Inverse(R*t),t);
00117         CPPUNIT_ASSERT_EQUAL(R.Inverse(R*w),w);
00118         CPPUNIT_ASSERT_EQUAL(R*R.Inverse(v),v);
00119         CPPUNIT_ASSERT_EQUAL(R*Rotation::Identity(),R);
00120         CPPUNIT_ASSERT_EQUAL(Rotation::Identity()*R,R);
00121         CPPUNIT_ASSERT_EQUAL(R*(R*(R*v)),(R*R*R)*v);
00122         CPPUNIT_ASSERT_EQUAL(R*(R*(R*t)),(R*R*R)*t);
00123         CPPUNIT_ASSERT_EQUAL(R*(R*(R*w)),(R*R*R)*w);
00124         CPPUNIT_ASSERT_EQUAL(R*R.Inverse(),Rotation::Identity());
00125         CPPUNIT_ASSERT_EQUAL(R.Inverse()*R,Rotation::Identity());
00126         CPPUNIT_ASSERT_EQUAL(R.Inverse()*v,R.Inverse(v));
00127         R.GetRPY(ra,rb,rc);
00128         CPPUNIT_ASSERT_DOUBLES_EQUAL(ra,a,epsilon);
00129     CPPUNIT_ASSERT_DOUBLES_EQUAL(rb,b,epsilon);
00130     CPPUNIT_ASSERT_DOUBLES_EQUAL(rc,c,epsilon);
00131         R = Rotation::EulerZYX(a,b,c);
00132         R.GetEulerZYX(ra,rb,rc);
00133         CPPUNIT_ASSERT_DOUBLES_EQUAL(ra,a,epsilon);
00134     CPPUNIT_ASSERT_DOUBLES_EQUAL(rb,b,epsilon);
00135     CPPUNIT_ASSERT_DOUBLES_EQUAL(rc,c,epsilon);
00136         R = Rotation::EulerZYZ(a,b,c);
00137         R.GetEulerZYZ(ra,rb,rc);
00138         CPPUNIT_ASSERT_DOUBLES_EQUAL(ra,a,epsilon);
00139     CPPUNIT_ASSERT_DOUBLES_EQUAL(rb,b,epsilon);
00140     CPPUNIT_ASSERT_DOUBLES_EQUAL(rc,c,epsilon);
00141         double angle= R.GetRotAngle(v2);
00142         R2=Rotation::Rot2(v2,angle);
00143         CPPUNIT_ASSERT_EQUAL(R2,R);
00144         R2=Rotation::Rot(v2*1E20,angle);
00145         CPPUNIT_ASSERT_EQUAL(R,R2);
00146         v2=Vector(6,2,4);
00147         CPPUNIT_ASSERT_DOUBLES_EQUAL((v2).Norm(),::sqrt(dot(v2,v2)),epsilon);
00148 }
00149 
00150 
00151 // compare a rotation R with the expected angle and axis
00152 void FramesTest::TestOneRotation(const std::string& msg,
00153                                                                  const KDL::Rotation& R,
00154                                                                  const double expectedAngle,
00155                                                                  const KDL::Vector& expectedAxis)
00156 {
00157         double          angle =0;
00158         Vector          axis;
00159 
00160         angle = R.GetRotAngle(axis);
00161         CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE(msg, expectedAngle, angle, epsilon);
00162         CPPUNIT_ASSERT_EQUAL_MESSAGE(msg, expectedAxis, axis);
00163         CPPUNIT_ASSERT_EQUAL_MESSAGE(msg, expectedAngle * expectedAxis, R.GetRot());
00164         CPPUNIT_ASSERT_EQUAL_MESSAGE(msg, Rotation::Rot(axis, angle), R);
00165         (void)axis.Normalize();
00166         CPPUNIT_ASSERT_EQUAL_MESSAGE(msg, Rotation::Rot2(axis, angle), R);
00167 }
00168 
00169 
00170 
00171 void FramesTest::TestArbitraryRotation(const std::string& msg,
00172                                                                            const KDL::Vector& v,
00173                                                                            const double angle,
00174                                                                            const double expectedAngle,
00175                                                                            const KDL::Vector& expectedVector)
00176 {
00177         std::stringstream       ss;
00178         ss << "rot(" << msg << "],(" << angle << ")";
00179         TestOneRotation(ss.str(), Rotation::Rot(v,angle*deg2rad), expectedAngle*deg2rad, expectedVector);
00180 }
00181 
00182 
00183 //std::cout << "-----\n" << R(0,0) << std::endl;\
00184 //std::cout << R(0,1) << std::endl;\
00185 //std::cout << R(0,2) << std::endl;\
00186 //std::cout << R(1,0) << std::endl;\
00187 //std::cout << R(1,1) << std::endl;\
00188 //std::cout << R(1,2) << std::endl;\
00189 //std::cout << R(2,0) << std::endl;\
00190 //std::cout << R(2,1) << std::endl;\
00191 //std::cout << R(2,2) << std::endl;\
00192 
00193 
00194 #define TESTEULERZYX(a,b,g) \
00195                 {\
00196                         double eps=1E-14;\
00197                         Rotation R = Rotation::EulerZYX((a),(b),(g));\
00198                         double alpha,beta,gamma;\
00199                         R.GetEulerZYX(alpha,beta,gamma);\
00200                         CPPUNIT_ASSERT_DOUBLES_EQUAL((a),alpha,eps);\
00201                         CPPUNIT_ASSERT_DOUBLES_EQUAL((b),beta,eps);\
00202                         CPPUNIT_ASSERT_DOUBLES_EQUAL((g),gamma,eps);\
00203                 }
00204 
00205 #define TESTEULERZYZ(a,b,g) \
00206                 {\
00207                         double eps=1E-14;\
00208                         Rotation R = Rotation::EulerZYZ((a),(b),(g));\
00209                         double alpha,beta,gamma;\
00210                         R.GetEulerZYZ(alpha,beta,gamma);\
00211                         CPPUNIT_ASSERT_DOUBLES_EQUAL((a),alpha,eps);\
00212                         CPPUNIT_ASSERT_DOUBLES_EQUAL((b),beta,eps);\
00213                         CPPUNIT_ASSERT_DOUBLES_EQUAL((g),gamma,eps);\
00214                 }
00215 #define TESTEULERZYX_INVARIANT(a,b,g,a2,b2,g2)\
00216                 {\
00217                         double eps=1E-14;\
00218                         Rotation R1=Rotation::EulerZYX(a,b,g);\
00219                         Rotation R2=Rotation::EulerZYX(a2,b2,g2);\
00220                         CPPUNIT_ASSERT_DOUBLES_EQUAL(0,diff(R2,R1).Norm(),eps);\
00221                 }
00222 #define TESTEULERZYZ_INVARIANT(a,b,g,a2,b2,g2)\
00223                 {\
00224                         double eps=1E-14;\
00225                         Rotation R1=Rotation::EulerZYZ(a,b,g);\
00226                         Rotation R2=Rotation::EulerZYZ(a2,b2,g2);\
00227                         CPPUNIT_ASSERT_DOUBLES_EQUAL(0,diff(R2,R1).Norm(),eps);\
00228                 }
00229 void FramesTest::TestEuler() {
00230         using namespace KDL;
00231         TESTEULERZYX(0.1,0.2,0.3)
00232         TESTEULERZYX(-0.1,0.2,0.3)
00233         TESTEULERZYX(0.1,-0.2,0.3)
00234         TESTEULERZYX(0.1,0.2,-0.3)
00235         TESTEULERZYX(0,0.2,0.3)
00236         TESTEULERZYX(0.1,0.2,0)
00237         TESTEULERZYX(0.1,0,0.3)
00238         TESTEULERZYX(0.1,0,0)
00239         TESTEULERZYX(0,0,0.3)
00240         TESTEULERZYX(0,0,0)
00241         TESTEULERZYX(0.3,0.999*M_PI/2,0.1)
00242         // if beta== +/- M_PI/2 => multiple solutions available, gamma will be choosen to be zero !
00243         // so we test with gamma==0 !
00244         TESTEULERZYX(0.3,0.9999999999*M_PI/2,0)
00245         TESTEULERZYX(0.3,0.99999999*M_PI/2,0)
00246         TESTEULERZYX(0.3,0.999999*M_PI/2,0)
00247         TESTEULERZYX(0.3,0.9999*M_PI/2,0)
00248         TESTEULERZYX(0.3,0.99*M_PI/2,0)
00249         //TESTEULERZYX(0.1,-M_PI/2,0.3)
00250         TESTEULERZYX(0,M_PI/2,0)
00251 
00252         TESTEULERZYX(0.3,-M_PI/2,0)
00253         TESTEULERZYX(0.3,-0.9999999999*M_PI/2,0)
00254         TESTEULERZYX(0.3,-0.99999999*M_PI/2,0)
00255         TESTEULERZYX(0.3,-0.999999*M_PI/2,0)
00256         TESTEULERZYX(0.3,-0.9999*M_PI/2,0)
00257         TESTEULERZYX(0.3,-0.99*M_PI/2,0)
00258         TESTEULERZYX(0,-M_PI/2,0)
00259 
00260         // extremes of the range:
00261         TESTEULERZYX(M_PI,-M_PI/2,0)
00262         TESTEULERZYX(-M_PI,-M_PI/2,0)
00263         TESTEULERZYX(M_PI,1,0)
00264         TESTEULERZYX(-M_PI,1,0)
00265         //TESTEULERZYX(0,-M_PI/2,M_PI)  gamma will be chosen zero
00266         //TESTEULERZYX(0,M_PI/2,-M_PI)  gamma will be chosen zero
00267         TESTEULERZYX(0,1,M_PI)
00268 
00269         TESTEULERZYZ(0.1,0.2,0.3)
00270         TESTEULERZYZ(-0.1,0.2,0.3)
00271         TESTEULERZYZ(0.1,0.9*M_PI,0.3)
00272         TESTEULERZYZ(0.1,0.2,-0.3)
00273         TESTEULERZYZ(0,0,0)
00274         TESTEULERZYZ(0,0,0)
00275         TESTEULERZYZ(0,0,0)
00276         TESTEULERZYZ(PI,0,0)
00277         TESTEULERZYZ(0,0.2,PI)
00278         TESTEULERZYZ(0.4,PI,0)
00279         TESTEULERZYZ(0,PI,0)
00280         TESTEULERZYZ(PI,PI,0)
00281         TESTEULERZYX(0.3,M_PI/2,0)
00282         TESTEULERZYZ(0.3,0.9999999999*M_PI/2,0)
00283         TESTEULERZYZ(0.3,0.99999999*M_PI/2,0)
00284         TESTEULERZYZ(0.3,0.999999*M_PI/2,0)
00285         TESTEULERZYZ(0.3,0.9999*M_PI/2,0)
00286         TESTEULERZYZ(0.3,0.99*M_PI/2,0)
00287 
00288         TESTEULERZYX_INVARIANT(0.1,0.2,0.3,   0.1+M_PI,  M_PI-0.2, 0.3+M_PI);
00289         TESTEULERZYX_INVARIANT(0.1,0.2,0.3,   0.1-M_PI,  M_PI-0.2, 0.3-M_PI);
00290         TESTEULERZYX_INVARIANT(0.1,0.2,0.3,   0.1-M_PI,  M_PI-0.2, 0.3+M_PI);
00291         TESTEULERZYX_INVARIANT(0.1,0.2,0.3,   0.1+M_PI,  M_PI-0.2, 0.3-M_PI);
00292 
00293         TESTEULERZYZ_INVARIANT(0.1,0.2,0.3,   0.1+M_PI,  -0.2, 0.3+M_PI);
00294         TESTEULERZYZ_INVARIANT(0.1,0.2,0.3,   0.1-M_PI,  -0.2, 0.3+M_PI);
00295         TESTEULERZYZ_INVARIANT(0.1,0.2,0.3,   0.1+M_PI,  -0.2, 0.3-M_PI);
00296         TESTEULERZYZ_INVARIANT(0.1,0.2,0.3,   0.1-M_PI,  -0.2, 0.3-M_PI);
00297 }
00298 
00299 void FramesTest::TestRangeArbitraryRotation(const std::string& msg,
00300                                                                                         const KDL::Vector& v,
00301                                                                                         const KDL::Vector& expectedVector)
00302 {
00303         TestArbitraryRotation(msg, v, 0,     0, Vector(0,0,1));         // no rotation
00304         TestArbitraryRotation(msg, v, 45,   45, expectedVector);
00305         TestArbitraryRotation(msg, v, 90,   90, expectedVector);
00306         TestArbitraryRotation(msg, v, 179, 179, expectedVector);
00307 //      TestArbitraryRotation(msg, v, 180, 180, expectedVector);        // sign VARIES by case because 180 degrees not
00308                                                                 // full determined: it can return +/- the axis
00309                                                                 // depending on what the original axis was.
00310                                                                 // BOTH RESULTS ARE CORRECT.
00311         TestArbitraryRotation(msg, v, 181, 179, -expectedVector);       // >+180 rotation => <+180 + negative axis
00312         TestArbitraryRotation(msg, v, 270,  90, -expectedVector);
00313         TestArbitraryRotation(msg, v, 359,   1, -expectedVector);
00314         TestArbitraryRotation(msg, v, 360,   0, Vector(0,0,1));         // no rotation
00315         TestArbitraryRotation(msg, v, 361,   1, expectedVector);
00316         TestArbitraryRotation(msg, v, 450,  90, expectedVector);
00317         TestArbitraryRotation(msg, v, 539, 179, expectedVector);
00318 //      TestArbitraryRotation(msg, v, 540, 180, expectedVector);        // see above 
00319         TestArbitraryRotation(msg, v, 541, 179, -expectedVector);       // like 181
00320         TestArbitraryRotation(msg, v, 630,  90, -expectedVector);       // like 270
00321         TestArbitraryRotation(msg, v, 719,   1, -expectedVector);       // like 259
00322         TestArbitraryRotation(msg, v, 720,   0, Vector(0,0,1));         // no rotation
00323 
00324         TestArbitraryRotation(msg, v, -45,   45, -expectedVector);
00325         TestArbitraryRotation(msg, v, -90,   90, -expectedVector);
00326         TestArbitraryRotation(msg, v, -179, 179, -expectedVector);
00327 //      TestArbitraryRotation(msg, v, -180, 180, expectedVector);       // see above 
00328         TestArbitraryRotation(msg, v, -181, 179, expectedVector);
00329         TestArbitraryRotation(msg, v, -270,  90, expectedVector);
00330         TestArbitraryRotation(msg, v, -359,   1, expectedVector);
00331         TestArbitraryRotation(msg, v, -360,   0, Vector(0,0,1));        // no rotation
00332         TestArbitraryRotation(msg, v, -361,   1, -expectedVector);
00333         TestArbitraryRotation(msg, v, -450,  90, -expectedVector);
00334         TestArbitraryRotation(msg, v, -539, 179, -expectedVector);
00335 //      TestArbitraryRotation(msg, v, -540, 180, -expectedVector);      // see above 
00336         TestArbitraryRotation(msg, v, -541, 179, expectedVector);
00337         TestArbitraryRotation(msg, v, -630,  90, expectedVector);
00338         TestArbitraryRotation(msg, v, -719,   1, expectedVector);
00339         TestArbitraryRotation(msg, v, -720,   0, Vector(0,0,1));        // no rotation
00340 }
00341 
00342 void FramesTest::TestRotation() {
00343         TestRotation2(Vector(3,4,5),10*deg2rad,20*deg2rad,30*deg2rad);
00344 
00345         // X axis
00346         TestRangeArbitraryRotation("[1,0,0]", Vector(1,0,0), Vector(1,0,0));
00347         TestRangeArbitraryRotation("[-1,0,0]", Vector(-1,0,0), Vector(-1,0,0));
00348         // Y axis
00349         TestRangeArbitraryRotation("[0,1,0]", Vector(0,1,0), Vector(0,1,0));
00350         TestRangeArbitraryRotation("[0,-1,0]", Vector(0,-1,0), Vector(0,-1,0));
00351         // Z axis
00352         TestRangeArbitraryRotation("[0,0,1]", Vector(0,0,1), Vector(0,0,1));
00353         TestRangeArbitraryRotation("[0,0,-1]", Vector(0,0,-1), Vector(0,0,-1));
00354         // X,Y axes
00355         TestRangeArbitraryRotation("[1,1,0]", Vector(1,1,0), Vector(1,1,0)/sqrt(2.0));
00356         TestRangeArbitraryRotation("[-1,-1,0]", Vector(-1,-1,0), Vector(-1,-1,0)/sqrt(2.0));
00357         // X,Z axes
00358         TestRangeArbitraryRotation("[1,0,1]", Vector(1,0,1), Vector(1,0,1)/sqrt(2.0));
00359         TestRangeArbitraryRotation("[-1,0,-1]", Vector(-1,0,-1), Vector(-1,0,-1)/sqrt(2.0));
00360         // Y,Z axes
00361         TestRangeArbitraryRotation("[0,1,1]", Vector(0,1,1), Vector(0,1,1)/sqrt(2.0));
00362         TestRangeArbitraryRotation("[0,-1,-1]", Vector(0,-1,-1), Vector(0,-1,-1)/sqrt(2.0));
00363         // X,Y,Z axes
00364         TestRangeArbitraryRotation("[1,1,1]", Vector(1,1,1), Vector(1,1,1)/sqrt(3.0));
00365         TestRangeArbitraryRotation("[-1,-1,-1]", Vector(-1,-1,-1), Vector(-1,-1,-1)/sqrt(3.0));
00366 
00367         // these change ... some of the -180 are the same as the +180, and some
00368         // results are the opposite sign.
00369         TestOneRotation("rot([1,0,0],180)", KDL::Rotation::Rot(KDL::Vector(1,0,0),180*deg2rad), 180*deg2rad, Vector(1,0,0));
00370         // same as +180
00371         TestOneRotation("rot([-1,0,0],180)", KDL::Rotation::Rot(KDL::Vector(-1,0,0),180*deg2rad), 180*deg2rad, Vector(1,0,0));
00372         TestOneRotation("rot([0,1,0],180)", KDL::Rotation::Rot(KDL::Vector(0,1,0),180*deg2rad), 180*deg2rad, Vector(0,1,0));
00373         // same as +180
00374         TestOneRotation("rot([0,-1,0],180)", KDL::Rotation::Rot(KDL::Vector(0,-1,0),180*deg2rad), 180*deg2rad, Vector(0,1,0));
00375 
00376         TestOneRotation("rot([0,0,1],180)", KDL::Rotation::Rot(KDL::Vector(0,0,1),180*deg2rad), 180*deg2rad, Vector(0,0,1));
00377         // same as +180
00378         TestOneRotation("rot([0,0,-1],180)", KDL::Rotation::Rot(KDL::Vector(0,0,-1),180*deg2rad), 180*deg2rad, Vector(0,0,1));
00379 
00380         TestOneRotation("rot([1,0,1],180)", KDL::Rotation::Rot(KDL::Vector(1,0,1),180*deg2rad), 180*deg2rad, Vector(1,0,1)/sqrt(2.0));
00381         // same as +180
00382         TestOneRotation("rot([1,0,1],-180)", KDL::Rotation::Rot(KDL::Vector(1,0,1),-180*deg2rad), 180*deg2rad, Vector(1,0,1)/sqrt(2.0));
00383         TestOneRotation("rot([-1,0,-1],180)", KDL::Rotation::Rot(KDL::Vector(-1,0,-1),180*deg2rad), 180*deg2rad, Vector(1,0,1)/sqrt(2.0));
00384         // same as +180
00385         TestOneRotation("rot([-1,0,-1],-180)", KDL::Rotation::Rot(KDL::Vector(-1,0,-1),-180*deg2rad), 180*deg2rad, Vector(1,0,1)/sqrt(2.0));
00386 
00387         TestOneRotation("rot([1,1,0],180)", KDL::Rotation::Rot(KDL::Vector(1,1,0),180*deg2rad), 180*deg2rad, Vector(1,1,0)/sqrt(2.0));
00388         // opposite of +180
00389         TestOneRotation("rot([1,1,0],-180)", KDL::Rotation::Rot(KDL::Vector(1,1,0),-180*deg2rad), 180*deg2rad, -Vector(1,1,0)/sqrt(2.0));
00390         TestOneRotation("rot([-1,-1,0],180)", KDL::Rotation::Rot(KDL::Vector(-1,-1,0),180*deg2rad), 180*deg2rad, -Vector(1,1,0)/sqrt(2.0));
00391         // opposite of +180
00392         TestOneRotation("rot([-1,-1,0],-180)", KDL::Rotation::Rot(KDL::Vector(-1,-1,0),-180*deg2rad), 180*deg2rad, Vector(1,1,0)/sqrt(2.0));
00393 
00394         TestOneRotation("rot([0,1,1],180)", KDL::Rotation::Rot(KDL::Vector(0,1,1),180*deg2rad), 180*deg2rad, Vector(0,1,1)/sqrt(2.0));
00395         // same as +180
00396         TestOneRotation("rot([0,1,1],-180)", KDL::Rotation::Rot(KDL::Vector(0,1,1),-180*deg2rad), 180*deg2rad, Vector(0,1,1)/sqrt(2.0));
00397         TestOneRotation("rot([0,-1,-1],180)", KDL::Rotation::Rot(KDL::Vector(0,-1,-1),180*deg2rad), 180*deg2rad, Vector(0,1,1)/sqrt(2.0));
00398         // same as +180
00399         TestOneRotation("rot([0,-1,-1],-180)", KDL::Rotation::Rot(KDL::Vector(0,-1,-1),-180*deg2rad), 180*deg2rad, Vector(0,1,1)/sqrt(2.0));
00400 
00401         TestOneRotation("rot([1,1,1],180)", KDL::Rotation::Rot(KDL::Vector(1,1,1),180*deg2rad), 180*deg2rad, Vector(1,1,1)/sqrt(3.0));
00402         // same as +180
00403         TestOneRotation("rot([1,1,1],-180)", KDL::Rotation::Rot(KDL::Vector(1,1,1),-180*deg2rad), 180*deg2rad, Vector(1,1,1)/sqrt(3.0));
00404         TestOneRotation("rot([-1,-1,-1],180)", KDL::Rotation::Rot(KDL::Vector(-1,-1,-1),180*deg2rad), 180*deg2rad, Vector(1,1,1)/sqrt(3.0));
00405         // same as +180
00406         TestOneRotation("rot([-1,-1,-1],-180)", KDL::Rotation::Rot(KDL::Vector(-1,-1,-1),-180*deg2rad), 180*deg2rad, Vector(1,1,1)/sqrt(3.0));
00407 }
00408 
00409 void FramesTest::TestQuaternion() {
00410     Rotation    R;
00411     Rotation    R2;
00412     double      x,y,z,w;
00413     double      x2,y2,z2,w2;
00414 
00415     // identity R -> quat -> R2
00416     R.GetQuaternion(x,y,z,w);
00417     R2.Quaternion(x,y,z,w);
00418         CPPUNIT_ASSERT_EQUAL(R,R2);
00419 
00420     // 45 deg rotation in X
00421     R = Rotation::EulerZYX(0,0,45*deg2rad);
00422     R.GetQuaternion(x,y,z,w);
00423         CPPUNIT_ASSERT_DOUBLES_EQUAL(x, sin((45*deg2rad)/2), epsilon);
00424         CPPUNIT_ASSERT_DOUBLES_EQUAL(y, 0, epsilon);
00425         CPPUNIT_ASSERT_DOUBLES_EQUAL(z, 0, epsilon);
00426         CPPUNIT_ASSERT_DOUBLES_EQUAL(w, cos((45*deg2rad)/2), epsilon);
00427     R2 = Rotation::Quaternion(x,y,z,w);
00428         CPPUNIT_ASSERT_EQUAL(R,R2);    
00429 
00430     // direct 45 deg rotation in X
00431     R2 = Rotation::Quaternion(sin((45*deg2rad)/2), 0, 0, cos((45*deg2rad)/2));
00432         CPPUNIT_ASSERT_EQUAL(R,R2);
00433     R2.GetQuaternion(x2,y2,z2,w2);
00434         CPPUNIT_ASSERT_DOUBLES_EQUAL(x, x2, epsilon);
00435         CPPUNIT_ASSERT_DOUBLES_EQUAL(y, y2, epsilon);
00436         CPPUNIT_ASSERT_DOUBLES_EQUAL(z, z2, epsilon);
00437         CPPUNIT_ASSERT_DOUBLES_EQUAL(w, w2, epsilon);
00438     
00439     // 45 deg rotation in X and in Z
00440     R = Rotation::EulerZYX(45*deg2rad,0,45*deg2rad);
00441     R.GetQuaternion(x,y,z,w);
00442     R2 = Rotation::Quaternion(x,y,z,w);
00443         CPPUNIT_ASSERT_EQUAL(R,R2);    
00444     R2.GetQuaternion(x2,y2,z2,w2);
00445         CPPUNIT_ASSERT_DOUBLES_EQUAL(x, x2, epsilon);
00446         CPPUNIT_ASSERT_DOUBLES_EQUAL(y, y2, epsilon);
00447         CPPUNIT_ASSERT_DOUBLES_EQUAL(z, z2, epsilon);
00448         CPPUNIT_ASSERT_DOUBLES_EQUAL(w, w2, epsilon);
00449 }
00450 
00451 
00452 void FramesTest::TestRotationDiff() {
00453 
00454         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(0*deg2rad)), Vector(0,0,0));           // no rotation
00455         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(90*deg2rad)), Vector(M_PI/2,0,0));
00456         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(180*deg2rad)), Vector(M_PI,0,0));
00457         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(270*deg2rad)), Vector(-M_PI/2,0,0));
00458         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(360*deg2rad)), Vector(0,0,0));         // no rotation
00459         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(-360*deg2rad)), Vector(0,0,0));        // no rotation
00460         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(-270*deg2rad)), Vector(M_PI/2,0,0));
00461         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(-180*deg2rad)), Vector(M_PI,0,0));
00462         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(-90*deg2rad)), Vector(-M_PI/2,0,0));
00463         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotX(-0*deg2rad)), Vector(0,0,0));          // no rotation
00464 
00465         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(0*deg2rad)), Vector(0,0,0));           // no rotation
00466         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(90*deg2rad)), Vector(0,M_PI/2,0));
00467         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(180*deg2rad)), Vector(0,M_PI,0));
00468         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(270*deg2rad)), Vector(0,-M_PI/2,0));
00469         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(360*deg2rad)), Vector(0,0,0));         // no rotation
00470         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(-360*deg2rad)), Vector(0,0,0));        // no rotation
00471         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(-270*deg2rad)), Vector(0,M_PI/2,0));
00472         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(-180*deg2rad)), Vector(0,M_PI,0));
00473         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(-90*deg2rad)), Vector(0,-M_PI/2,0));
00474         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotY(-0*deg2rad)), Vector(0,0,0));          // no rotation
00475 
00476         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(0*deg2rad)), Vector(0,0,0));           // no rotation
00477         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(90*deg2rad)), Vector(0,0,M_PI/2));
00478         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(180*deg2rad)), Vector(0,0,M_PI));
00479         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(270*deg2rad)), Vector(0,0,-M_PI/2));
00480         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(360*deg2rad)), Vector(0,0,0));         // no rotation
00481         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(-360*deg2rad)), Vector(0,0,0));        // no rotation
00482         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(-270*deg2rad)), Vector(0,0,M_PI/2));
00483         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(-180*deg2rad)), Vector(0,0,M_PI));
00484         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(-90*deg2rad)), Vector(0,0,-M_PI/2));
00485         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotZ(0*deg2rad), Rotation::RotZ(-0*deg2rad)), Vector(0,0,0));          // no rotation
00486 
00487         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotZ(90*deg2rad)), Vector(0,0,M_PI/2));
00488         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotX(0*deg2rad), Rotation::RotY(90*deg2rad)), Vector(0,M_PI/2,0));
00489         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RotY(0*deg2rad), Rotation::RotZ(90*deg2rad)), Vector(0,0,M_PI/2));
00490 
00491         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::Identity(), Rotation::RotX(90*deg2rad)), Vector(M_PI/2,0,0));
00492         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::Identity(), Rotation::RotY(90*deg2rad)), Vector(0,M_PI/2,0));
00493         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::Identity(), Rotation::RotZ(90*deg2rad)), Vector(0,0,M_PI/2));
00494 
00495         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RPY(+0*deg2rad,0,-90*deg2rad),
00496                                                                    Rotation::RPY(-0*deg2rad,0,+90*deg2rad)),
00497                                                  Vector(0,0,M_PI));
00498         CPPUNIT_ASSERT_EQUAL(KDL::diff(Rotation::RPY(+5*deg2rad,0,-0*deg2rad),
00499                                                                    Rotation::RPY(-5*deg2rad,0,+0*deg2rad)),
00500                                                  Vector(-10*deg2rad,0,0));
00501 
00502     KDL::Rotation R1 = Rotation::RPY(+5*deg2rad,0,-90*deg2rad);
00503         CPPUNIT_ASSERT_EQUAL(KDL::diff(R1, Rotation::RPY(-5*deg2rad,0,+90*deg2rad)),
00504                                                            R1*Vector(0, 0, 180*deg2rad));
00505 }
00506 
00507 void FramesTest::TestFrame() {
00508         Vector   v(3,4,5);
00509         Wrench   w(Vector(7,-1,3),Vector(2,-3,3)) ;
00510         Twist    t(Vector(6,3,5),Vector(4,-2,7)) ;
00511         Rotation R ;
00512         Frame F;
00513         Frame F2 ;
00514         F = Frame(Rotation::EulerZYX(10*deg2rad,20*deg2rad,-10*deg2rad),Vector(4,-2,1));
00515         F2=F   ;
00516         CPPUNIT_ASSERT_EQUAL(F,F2);
00517         CPPUNIT_ASSERT_EQUAL(F.Inverse(F*v),v);
00518         CPPUNIT_ASSERT_EQUAL(F.Inverse(F*t),t);
00519         CPPUNIT_ASSERT_EQUAL(F.Inverse(F*w),w);
00520         CPPUNIT_ASSERT_EQUAL(F*F.Inverse(v),v);
00521         CPPUNIT_ASSERT_EQUAL(F*F.Inverse(t),t);
00522         CPPUNIT_ASSERT_EQUAL(F*F.Inverse(w),w);
00523         CPPUNIT_ASSERT_EQUAL(F*Frame::Identity(),F);
00524         CPPUNIT_ASSERT_EQUAL(Frame::Identity()*F,F);
00525         CPPUNIT_ASSERT_EQUAL(F*(F*(F*v)),(F*F*F)*v);
00526         CPPUNIT_ASSERT_EQUAL(F*(F*(F*t)),(F*F*F)*t);
00527         CPPUNIT_ASSERT_EQUAL(F*(F*(F*w)),(F*F*F)*w);
00528         CPPUNIT_ASSERT_EQUAL(F*F.Inverse(),Frame::Identity());
00529         CPPUNIT_ASSERT_EQUAL(F.Inverse()*F,Frame::Identity());
00530         CPPUNIT_ASSERT_EQUAL(F.Inverse()*v,F.Inverse(v));
00531 }
00532 
00533 void FramesTest::TestJntArray()
00534 {
00535     JntArray a1(4);
00536     random(a1(0));
00537     random(a1(1));
00538     random(a1(2));
00539     random(a1(3));
00540     JntArray a2(a1);
00541     CPPUNIT_ASSERT(Equal(a2,a1));
00542 
00543     SetToZero(a2);
00544     CPPUNIT_ASSERT(!Equal(a1,a2));
00545     
00546     JntArray a3(4);
00547     CPPUNIT_ASSERT(Equal(a2,a3));
00548     
00549     a1=a2;
00550     CPPUNIT_ASSERT(Equal(a1,a3));
00551 
00552     random(a1(0));
00553     random(a1(1));
00554     random(a1(2));
00555     random(a1(3));
00556     
00557     Add(a1,a2,a3);
00558     CPPUNIT_ASSERT(Equal(a1,a3));
00559     
00560     random(a2(0));
00561     random(a2(1));
00562     random(a2(2));
00563     random(a2(3));
00564     Add(a1,a2,a3);
00565     Subtract(a3,a2,a3);
00566     CPPUNIT_ASSERT(Equal(a1,a3));
00567     
00568     Multiply(a1,2,a3);
00569     Add(a1,a1,a2);
00570     CPPUNIT_ASSERT(Equal(a2,a3));
00571     
00572     double a;
00573     random(a);
00574     Multiply(a1,a,a3);
00575     Divide(a3,a,a2);
00576     CPPUNIT_ASSERT(Equal(a2,a1));
00577 }
00578 
00579  
00580 void FramesTest::TestJntArrayWhenEmpty()
00581 {
00582     JntArray a1;
00583     JntArray a2;
00584     JntArray a3(a2);
00585     
00586         // won't assert()
00587     CPPUNIT_ASSERT_EQUAL((unsigned int)0,a1.rows());
00588     CPPUNIT_ASSERT(Equal(a2,a1));
00589     
00590         a2 = a1;
00591     CPPUNIT_ASSERT(Equal(a2,a1));
00592     
00593         SetToZero(a2);
00594     CPPUNIT_ASSERT(Equal(a2,a1));
00595     
00596     Add(a1,a2,a3);
00597     CPPUNIT_ASSERT(Equal(a1,a3));
00598     
00599     Subtract(a1,a2,a3);
00600     CPPUNIT_ASSERT(Equal(a1,a3));
00601         
00602     Multiply(a1,3.1,a3);
00603     CPPUNIT_ASSERT(Equal(a1,a3));
00604         
00605     Divide(a1,3.1,a3);
00606     CPPUNIT_ASSERT(Equal(a1,a3));
00607         
00608         // MultiplyJacobian() - not tested here
00609     
00610     
00611         /* will assert() - not tested here
00612        double j1 = a1(0);
00613         */      
00614     
00615         // and now resize, and do just a few tests
00616     a1.resize(3);
00617     a2.resize(3);
00618     CPPUNIT_ASSERT_EQUAL((unsigned int)3,a1.rows());
00619     CPPUNIT_ASSERT(Equal(a2,a1));
00620     
00621     random(a1(0));
00622     random(a1(1));
00623     random(a1(2));
00624     a1 = a2;
00625     CPPUNIT_ASSERT(Equal(a1,a2));
00626     CPPUNIT_ASSERT_EQUAL(a1(1),a2(1));
00627     
00628     a3.resize(3);
00629     Subtract(a1,a2,a3); // a3 = a2 - a1 = {0}
00630     SetToZero(a1);
00631     CPPUNIT_ASSERT(Equal(a1,a3));
00632 }
00633 
00634