framestest.cpp File Reference

#include "framestest.hpp"
#include <frames_io.hpp>
#include <utilities/utility.h>

Include dependency graph for framestest.cpp:

Go to the source code of this file.

Macros
#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)
JntArray	CreateRandomJntArray (int size)

Macro Definition 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.

Function Documentation

CPPUNIT_TEST_SUITE_REGISTRATION

(

FramesTest

)

JntArray CreateRandomJntArray

(

int

size

)

Definition at line 638 of file framestest.cpp.