framestest.cpp File Reference

#include <math.h>
#include "framestest.hpp"
#include <cppunit/extensions/HelperMacros.h>
#include <frames.hpp>
#include <jntarray.hpp>
#include <frames_io.hpp>

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Defines
#define	TESTEULERZYX(a, b, g)
#define	TESTEULERZYX_INVARIANT(a, b, g, a2, b2, g2)
#define	TESTEULERZYZ(a, b, g)
#define	TESTEULERZYZ_INVARIANT(a, b, g, a2, b2, g2)
Functions
	CPPUNIT_TEST_SUITE_REGISTRATION (FramesTest)

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Define Documentation

#define TESTEULERZYX	(	a,
		b,
		g		)

Value:

{\
                        double eps=1E-14;\
                        Rotation R = Rotation::EulerZYX((a),(b),(g));\
                        double alpha,beta,gamma;\
                        R.GetEulerZYX(alpha,beta,gamma);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL((a),alpha,eps);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL((b),beta,eps);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL((g),gamma,eps);\
                }

Definition at line 194 of file framestest.cpp.

#define TESTEULERZYX_INVARIANT	(	a,
		b,
		g,
		a2,
		b2,
		g2		)

Value:

{\
                        double eps=1E-14;\
                        Rotation R1=Rotation::EulerZYX(a,b,g);\
                        Rotation R2=Rotation::EulerZYX(a2,b2,g2);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL(0,diff(R2,R1).Norm(),eps);\
                }

Definition at line 215 of file framestest.cpp.

#define TESTEULERZYZ	(	a,
		b,
		g		)

Value:

{\
                        double eps=1E-14;\
                        Rotation R = Rotation::EulerZYZ((a),(b),(g));\
                        double alpha,beta,gamma;\
                        R.GetEulerZYZ(alpha,beta,gamma);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL((a),alpha,eps);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL((b),beta,eps);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL((g),gamma,eps);\
                }

Definition at line 205 of file framestest.cpp.

#define TESTEULERZYZ_INVARIANT	(	a,
		b,
		g,
		a2,
		b2,
		g2		)

Value:

{\
                        double eps=1E-14;\
                        Rotation R1=Rotation::EulerZYZ(a,b,g);\
                        Rotation R2=Rotation::EulerZYZ(a2,b2,g2);\
                        CPPUNIT_ASSERT_DOUBLES_EQUAL(0,diff(R2,R1).Norm(),eps);\
                }

Definition at line 222 of file framestest.cpp.

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Function Documentation

CPPUNIT_TEST_SUITE_REGISTRATION

(

FramesTest

)