quaternion.cpp
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29 
30 #include <vector>
31 #include <sys/time.h>
32 #include <cstdio>
33 #include <gtest/gtest.h>
34 
36 
37 double epsilon = 10E-6;
38 
39 
40 void seed_rand()
41 {
42  //Seed random number generator with current microseond count
43  timeval temp_time_struct;
44  gettimeofday(&temp_time_struct,NULL);
45  srand(temp_time_struct.tv_usec);
46 };
47 
48 void testQuatRPY(tf::Quaternion q_baseline)
49 {
50  q_baseline.normalize();
51  tf::Matrix3x3 m(q_baseline);
52  double roll, pitch, yaw;
53 
54  for (int solution = 1 ; solution < 2 ; ++solution)
55  {
56  m.getRPY(roll, pitch, yaw, solution);
57  tf::Quaternion q_from_rpy;
58  q_from_rpy.setRPY(roll, pitch, yaw);
59  // use angleShortestPath() because angle() can return PI for equivalent
60  // quaternions
61  double angle1 = q_from_rpy.angleShortestPath(q_baseline);
62  ASSERT_NEAR(0.0, angle1, epsilon);
63  //std::printf("%f, angle between quaternions\n", angle1);
64 
65  tf::Matrix3x3 m2;
66  m2.setRPY(roll, pitch, yaw);
67  tf::Quaternion q_from_m_from_rpy;
68  m2.getRotation(q_from_m_from_rpy);
69  // use angleShortestPath() because angle() can return PI for equivalent
70  // quaternions
71  double angle2 = q_from_m_from_rpy.angleShortestPath(q_baseline);
72  ASSERT_NEAR(0.0, angle2, epsilon);
73  //std::printf("%f, angle between quaternions\n", angle2);
74  }
75 }
76 
77 TEST(tf, Quaternion)
78 {
79  unsigned int runs = 400;
80  seed_rand();
81 
82  std::vector<double> xvalues(runs), yvalues(runs), zvalues(runs);
83  for ( unsigned int i = 0; i < runs ; i++ )
84  {
85  xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
86  yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
87  zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
88  }
89 
90 
91  for ( unsigned int i = 0; i < runs ; i++ )
92  {
93  tf::Matrix3x3 mat;
94  tf::Quaternion q_baseline;
95  q_baseline.setRPY(zvalues[i],yvalues[i],xvalues[i]);
96  mat.setRotation(q_baseline);
97  tf::Quaternion q_from_m;
98  mat.getRotation(q_from_m);
99  double angle = q_from_m.angle(q_baseline);
100  ASSERT_NEAR(0.0, angle, epsilon);
101  testQuatRPY(q_baseline);
102  }
103 
104  // test some corner cases
105  testQuatRPY(tf::Quaternion( 0.5, 0.5, 0.5, -0.5));
106  testQuatRPY(tf::Quaternion( 0.5, 0.5, 0.5, 0.5));
107  testQuatRPY(tf::Quaternion( 0.5, -0.5, 0.5, 0.5));
108  testQuatRPY(tf::Quaternion( 0.5, 0.5, -0.5, 0.5));
109  testQuatRPY(tf::Quaternion(-0.5, 0.5, 0.5, 0.5));
110 }
111 
112 
113 int main(int argc, char **argv){
114  testing::InitGoogleTest(&argc, argv);
115  return RUN_ALL_TESTS();
116 }
double epsilon
Definition: quaternion.cpp:37
The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x...
Definition: Quaternion.h:28
void seed_rand()
Definition: quaternion.cpp:40
TEST(tf, Quaternion)
Definition: quaternion.cpp:77
Quaternion & normalize()
Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
Definition: Quaternion.h:174
Definition: exceptions.h:38
The Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with Q...
Definition: Matrix3x3.h:31
void getRotation(Quaternion &q) const
Get the matrix represented as a quaternion.
Definition: Matrix3x3.h:243
void setRotation(const Quaternion &q)
Set the matrix from a quaternion.
Definition: Matrix3x3.h:146
TFSIMD_FORCE_INLINE tfScalar angle(const Quaternion &q1, const Quaternion &q2)
Return the ***half*** angle between two quaternions.
Definition: Quaternion.h:405
int main(int argc, char **argv)
Definition: quaternion.cpp:113
tfScalar angle(const Quaternion &q) const
Return the ***half*** angle between this quaternion and the other.
Definition: Quaternion.h:211
void setRPY(const tfScalar &roll, const tfScalar &pitch, const tfScalar &yaw)
Set the quaternion using fixed axis RPY.
Definition: Quaternion.h:94
void getRPY(tfScalar &roll, tfScalar &pitch, tfScalar &yaw, unsigned int solution_number=1) const
Get the matrix represented as roll pitch and yaw about fixed axes XYZ.
Definition: Matrix3x3.h:365
void setRPY(tfScalar roll, tfScalar pitch, tfScalar yaw)
Set the matrix using RPY about XYZ fixed axes.
Definition: Matrix3x3.h:203
void testQuatRPY(tf::Quaternion q_baseline)
Definition: quaternion.cpp:48
tfScalar angleShortestPath(const Quaternion &q) const
Return the angle between this quaternion and the other along the shortest path.
Definition: Quaternion.h:219


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sun Jul 8 2018 02:12:41