matrix-homogeneous.cpp File Reference

#include <sstream>
#include <boost/math/constants/constants.hpp>
#include <boost/test/floating_point_comparison.hpp>
#include <boost/test/output_test_stream.hpp>
#include <boost/test/unit_test.hpp>
#include <sot/core/matrix-geometry.hh>

Include dependency graph for matrix-homogeneous.cpp:

Go to the source code of this file.

Macros
#define	BOOST_TEST_MODULE   matrix_homogeneous
#define	MATRIX_4x4_BOOST_REQUIRE_CLOSE(LEFT, RIGHT, TOLERANCE)   MATRIX_BOOST_REQUIRE_CLOSE(4, 4, LEFT, RIGHT, TOLERANCE)
#define	MATRIX_BOOST_REQUIRE_CLOSE(N, M, LEFT, RIGHT, TOLERANCE)
#define	MATRIX_HOMO_INIT(M, tx, ty, tz, roll, pitch, yaw)
#define	MATRIX_IDENTITY_4x4_REQUIRE_CLOSE(M, TOLERANCE)

Functions
	BOOST_AUTO_TEST_CASE (product)
	BOOST_AUTO_TEST_CASE (inverse)

Macro Definition Documentation

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   matrix_homogeneous

Definition at line 5 of file matrix-homogeneous.cpp.

MATRIX_4x4_BOOST_REQUIRE_CLOSE

#define MATRIX_4x4_BOOST_REQUIRE_CLOSE	(		LEFT,
			RIGHT,
			TOLERANCE
	)		MATRIX_BOOST_REQUIRE_CLOSE(4, 4, LEFT, RIGHT, TOLERANCE)

Definition at line 23 of file matrix-homogeneous.cpp.

MATRIX_BOOST_REQUIRE_CLOSE

#define MATRIX_BOOST_REQUIRE_CLOSE	(		N,
			M,
			LEFT,
			RIGHT,
			TOLERANCE
	)

Value:

for (unsigned i = 0; i < N; ++i)                               \
    for (unsigned j = 0; j < M; ++j)                             \
  BOOST_REQUIRE_CLOSE(LEFT(i, j), RIGHT(i, j), TOLERANCE)

Definition at line 18 of file matrix-homogeneous.cpp.

MATRIX_HOMO_INIT

#define MATRIX_HOMO_INIT	(		M,
			tx,
			ty,
			tz,
			roll,
			pitch,
			yaw
	)

Value:

M(0, 0) = cos(pitch) * cos(yaw);                                    \
  M(0, 1) = sin(roll) * sin(pitch) * cos(yaw) - cos(roll) * sin(yaw); \
  M(0, 2) = cos(roll) * sin(pitch) * cos(yaw) + sin(roll) * sin(yaw); \
  M(0, 3) = tx;                                                       \
  M(1, 0) = cos(pitch) * sin(yaw);                                    \
  M(1, 1) = sin(roll) * sin(pitch) * sin(yaw) + cos(roll) * cos(yaw); \
  M(1, 2) = cos(roll) * sin(pitch) * sin(yaw) - sin(roll) * cos(yaw); \
  M(1, 3) = ty;                                                       \
  M(2, 0) = -sin(pitch);                                              \
  M(2, 1) = sin(roll) * cos(pitch);                                   \
  M(2, 2) = cos(roll) * cos(pitch);                                   \
  M(2, 3) = tz;                                                       \
  M(3, 0) = 0.;                                                       \
  M(3, 1) = 0.;                                                       \
  M(3, 2) = 0.;                                                       \
  M(3, 3) = 1.

Definition at line 34 of file matrix-homogeneous.cpp.

MATRIX_IDENTITY_4x4_REQUIRE_CLOSE

#define MATRIX_IDENTITY_4x4_REQUIRE_CLOSE	(		M,
			TOLERANCE
	)

Value:

for (unsigned i = 0; i < 4; ++i)                      \
    for (unsigned j = 0; j < 4; ++j)                    \
      if (i == j)                                       \
        BOOST_REQUIRE_CLOSE(M(i, j), 1., TOLERANCE);    \
      else                                              \
        BOOST_CHECK_SMALL(M(i, j), .01 * TOLERANCE)

Definition at line 26 of file matrix-homogeneous.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/2]

BOOST_AUTO_TEST_CASE

(

product

)

Definition at line 52 of file matrix-homogeneous.cpp.

BOOST_AUTO_TEST_CASE() [2/2]

BOOST_AUTO_TEST_CASE

(

inverse

)

Definition at line 82 of file matrix-homogeneous.cpp.