22 CPPUNIT_ASSERT(j1!=j2);
27 CPPUNIT_ASSERT_EQUAL(j1,j3);
41 CPPUNIT_ASSERT(j1!=j2);
46 CPPUNIT_ASSERT_EQUAL(j1,j3);
59 CPPUNIT_ASSERT(j1!=j2);
64 CPPUNIT_ASSERT_EQUAL(j1,j3);
71 CPPUNIT_ASSERT_EQUAL(j1.
rows(),(
unsigned int)6);
72 CPPUNIT_ASSERT_EQUAL(j1.
columns(),(
unsigned int)2);
76 CPPUNIT_ASSERT_EQUAL(j2.
rows(),(
unsigned int)6);
77 CPPUNIT_ASSERT_EQUAL(j2.
columns(),(
unsigned int)2);
80 CPPUNIT_ASSERT_EQUAL(j3.
rows(),(
unsigned int)6);
81 CPPUNIT_ASSERT_EQUAL(j3.
columns(),(
unsigned int)2);
86 CPPUNIT_ASSERT_EQUAL(j1.
rows(),(
unsigned int)6);
87 CPPUNIT_ASSERT_EQUAL(j1.
columns(),(
unsigned int)5);
91 CPPUNIT_ASSERT_EQUAL(j2.
rows(),(
unsigned int)6);
92 CPPUNIT_ASSERT_EQUAL(j2.
columns(),(
unsigned int)5);
98 for (
unsigned int i=0; i<6; ++i)
101 j1(i,0) = j1(i,0)*1e-7;
103 CPPUNIT_ASSERT(
Equal(j1,j2,1));
104 CPPUNIT_ASSERT(
Equal(j1,j2,1e-6));
105 CPPUNIT_ASSERT(!
Equal(j1,j2,1e-8));
represents rotations in 3 dimensional space.
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
Rotation Inverse() const
Gives back the inverse rotation matrix of *this.
bool changeBase(const Jacobian &src1, const Rotation &rot, Jacobian &dest)
void TestChangeRefPoint()
bool changeRefPoint(const Jacobian &src1, const Vector &base_AB, Jacobian &dest)
unsigned int columns() const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
A concrete implementation of a 3 dimensional vector class.
Frame Inverse() const
Gives back inverse transformation of a Frame.
represents a frame transformation in 3D space (rotation + translation)
void TestChangeRefFrame()
CPPUNIT_TEST_SUITE_REGISTRATION(JacobianTest)
IMETHOD void random(Vector &a)
addDelta operator for displacement rotational velocity.
bool changeRefFrame(const Jacobian &src1, const Frame &frame, Jacobian &dest)
unsigned int rows() const