matrix-twist.cpp File Reference

#include <sstream>
#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-twist.cpp:

Go to the source code of this file.

Macros
#define	BOOST_TEST_MODULE   matrix_twist
#define	MATRIX_4x4_INIT(M, A00, A01, A02, A03, A10, A11, A12, A13, A20, A21, A22, A23, A30, A31, A32, A33)
#define	MATRIX_6x6_BOOST_REQUIRE_CLOSE(LEFT, RIGHT, TOLERANCE)   MATRIX_BOOST_REQUIRE_CLOSE(6, 6, LEFT, RIGHT, TOLERANCE)
#define	MATRIX_6x6_INIT(M, A00, A01, A02, A03, A04, A05, A10, A11, A12, A13, A14, A15, A20, A21, A22, A23, A24, A25, A30, A31, A32, A33, A34, A35, A40, A41, A42, A43, A44, A45, A50, A51, A52, A53, A54, A55)
#define	MATRIX_BOOST_REQUIRE_CLOSE(N, M, LEFT, RIGHT, TOLERANCE)

Functions
	BOOST_AUTO_TEST_CASE (constructor_trivial_identity)
	BOOST_AUTO_TEST_CASE (constructor_rotation_only)
	BOOST_AUTO_TEST_CASE (constructor_translation_only)
	BOOST_AUTO_TEST_CASE (constructor_rotation_translation)
	BOOST_AUTO_TEST_CASE (inverse_translation_only)
	BOOST_AUTO_TEST_CASE (inverse_translation_rotation)

Macro Definition Documentation

BOOST_TEST_MODULE

#define BOOST_TEST_MODULE   matrix_twist

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

MATRIX_4x4_INIT

#define MATRIX_4x4_INIT	(		M,
			A00,
			A01,
			A02,
			A03,
			A10,
			A11,
			A12,
			A13,
			A20,
			A21,
			A22,
			A23,
			A30,
			A31,
			A32,
			A33
	)

Value:

M(0, 0) = A00, M(0, 1) = A01, M(0, 2) = A02, M(0, 3) = A03;                \
  M(1, 0) = A10, M(1, 1) = A11, M(1, 2) = A12, M(1, 3) = A13;                \
  M(2, 0) = A20, M(2, 1) = A21, M(2, 2) = A22, M(2, 3) = A23;                \
  M(3, 0) = A30, M(3, 1) = A31, M(3, 2) = A32, M(3, 3) = A33

Definition at line 22 of file matrix-twist.cpp.

MATRIX_6x6_BOOST_REQUIRE_CLOSE

#define MATRIX_6x6_BOOST_REQUIRE_CLOSE	(		LEFT,
			RIGHT,
			TOLERANCE
	)		MATRIX_BOOST_REQUIRE_CLOSE(6, 6, LEFT, RIGHT, TOLERANCE)

Definition at line 19 of file matrix-twist.cpp.

MATRIX_6x6_INIT

#define MATRIX_6x6_INIT	(		M,
			A00,
			A01,
			A02,
			A03,
			A04,
			A05,
			A10,
			A11,
			A12,
			A13,
			A14,
			A15,
			A20,
			A21,
			A22,
			A23,
			A24,
			A25,
			A30,
			A31,
			A32,
			A33,
			A34,
			A35,
			A40,
			A41,
			A42,
			A43,
			A44,
			A45,
			A50,
			A51,
			A52,
			A53,
			A54,
			A55
	)

Value:

M(0, 0) = A00, M(0, 1) = A01, M(0, 2) = A02, M(0, 3) = A03, M(0, 4) = A04,   \
       M(0, 5) = A05;                                                          \
  M(1, 0) = A10, M(1, 1) = A11, M(1, 2) = A12, M(1, 3) = A13, M(1, 4) = A14,   \
       M(1, 5) = A15;                                                          \
  M(2, 0) = A20, M(2, 1) = A21, M(2, 2) = A22, M(2, 3) = A23, M(2, 4) = A24,   \
       M(2, 5) = A25;                                                          \
  M(3, 0) = A30, M(3, 1) = A31, M(3, 2) = A32, M(3, 3) = A33, M(3, 4) = A34,   \
       M(3, 5) = A35;                                                          \
  M(4, 0) = A40, M(4, 1) = A41, M(4, 2) = A42, M(4, 3) = A43, M(4, 4) = A44,   \
       M(4, 5) = A45;                                                          \
  M(5, 0) = A50, M(5, 1) = A51, M(5, 2) = A52, M(5, 3) = A53, M(5, 4) = A54,   \
       M(5, 5) = A55

Definition at line 29 of file matrix-twist.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 14 of file matrix-twist.cpp.

Function Documentation

BOOST_AUTO_TEST_CASE() [1/6]

BOOST_AUTO_TEST_CASE

(

constructor_trivial_identity

)

Definition at line 61 of file matrix-twist.cpp.

BOOST_AUTO_TEST_CASE() [2/6]

BOOST_AUTO_TEST_CASE

(

constructor_rotation_only

)

Definition at line 74 of file matrix-twist.cpp.

BOOST_AUTO_TEST_CASE() [3/6]

BOOST_AUTO_TEST_CASE

(

constructor_translation_only

)

Definition at line 89 of file matrix-twist.cpp.

BOOST_AUTO_TEST_CASE() [4/6]

BOOST_AUTO_TEST_CASE

(

constructor_rotation_translation

)

Definition at line 109 of file matrix-twist.cpp.

BOOST_AUTO_TEST_CASE() [5/6]

BOOST_AUTO_TEST_CASE

(

inverse_translation_only

)

Definition at line 129 of file matrix-twist.cpp.

BOOST_AUTO_TEST_CASE() [6/6]

BOOST_AUTO_TEST_CASE

(

inverse_translation_rotation

)

Definition at line 155 of file matrix-twist.cpp.