Visual Servoing Platform version 3.5.0
testTranslationVector.cpp
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30 *
31 * Description:
32 * Test some vpColVector functionalities.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
45#include <cmath>
46#include <limits>
47#include <vector>
48
49#include <visp3/core/vpTranslationVector.h>
50
51bool test(const std::string &s, const vpArray2D<double> &A, const std::vector<double> &bench)
52{
53 static unsigned int cpt = 0;
54 std::cout << "** Test " << ++cpt << std::endl;
55 std::cout << s << "(" << A.getRows() << "," << A.getCols() << ") =" << A << std::endl;
56 if (bench.size() != A.size()) {
57 std::cout << "Test fails: bad size wrt bench" << std::endl;
58 return false;
59 }
60 for (unsigned int i = 0; i < A.size(); i++) {
61 if (std::fabs(A.data[i] - bench[i]) > std::fabs(A.data[i]) * std::numeric_limits<double>::epsilon()) {
62 std::cout << "Test fails: bad content" << std::endl;
63 return false;
64 }
65 }
66
67 return true;
68}
69int main()
70{
71 int err = 1;
72 {
74 std::vector<double> bench(3, 0);
75 if (test("t", t, bench) == false)
76 return err;
77 }
78 {
79 vpTranslationVector t1(1, 2, 3);
80 std::vector<double> bench(3);
81 bench[0] = 1;
82 bench[1] = 2;
83 bench[2] = 3;
84 if (test("t1", t1, bench) == false)
85 return err;
86
87 vpTranslationVector t2(4, 5, 6);
88 bench[0] = 4;
89 bench[1] = 5;
90 bench[2] = 6;
91 if (test("t2", t2, bench) == false)
92 return err;
93
94 vpTranslationVector t3 = t1 + t2;
95 bench[0] = 5;
96 bench[1] = 7;
97 bench[2] = 9;
98 if (test("t3", t3, bench) == false)
99 return err;
100
101 vpMatrix skew = t3.skew();
102 std::vector<double> bench1(9, 0);
103 bench1[1] = -9;
104 bench1[2] = 7;
105 bench1[3] = 9;
106 bench1[5] = -5;
107 bench1[6] = -7;
108 bench1[7] = 5;
109 if (test("skew", skew, bench1) == false)
110 return err;
111
113 t4.set(-1, -2, -3);
114 bench[0] = -1;
115 bench[1] = -2;
116 bench[2] = -3;
117 if (test("t4", t4, bench) == false)
118 return err;
119
120 vpTranslationVector t5 = t4 * 2;
121 bench[0] = -2;
122 bench[1] = -4;
123 bench[2] = -6;
124 if (test("t5", t5, bench) == false)
125 return err;
126
128 bench[0] = 0;
129 bench[1] = 0;
130 bench[2] = 0;
131 if (test("t6", t6, bench) == false)
132 return err;
133 }
134 std::cout << "All tests succeed" << std::endl;
135 return 0;
136}
unsigned int getCols() const
Definition: vpArray2D.h:279
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:145
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
unsigned int getRows() const
Definition: vpArray2D.h:289
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that consider the case of a translation vector.
void set(double tx, double ty, double tz)
static vpTranslationVector cross(const vpTranslationVector &a, const vpTranslationVector &b)