75 lines
2.6 KiB
C++
75 lines
2.6 KiB
C++
|
/*
|
||
|
|
* Copyright 2016 The Cartographer Authors
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "cartographer/transform/transform.h"
|
||
|
|
|
||
|
|
#include <random>
|
||
|
|
|
||
|
|
#include "cartographer/transform/rigid_transform.h"
|
||
|
|
#include "cartographer/transform/rigid_transform_test_helpers.h"
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
|
||
|
|
namespace cartographer {
|
||
|
|
namespace transform {
|
||
|
|
namespace {
|
||
|
|
|
||
|
|
TEST(TransformTest, GetAngle) {
|
||
|
|
std::mt19937 rng(42);
|
||
|
|
std::uniform_real_distribution<float> angle_distribution(0.f, M_PI);
|
||
|
|
std::uniform_real_distribution<float> position_distribution(-1.f, 1.f);
|
||
|
|
|
||
|
|
for (int i = 0; i != 100; ++i) {
|
||
|
|
const float angle = angle_distribution(rng);
|
||
|
|
const float x = position_distribution(rng);
|
||
|
|
const float y = position_distribution(rng);
|
||
|
|
const float z = position_distribution(rng);
|
||
|
|
const Eigen::Vector3f axis = Eigen::Vector3f(x, y, z).normalized();
|
||
|
|
EXPECT_NEAR(angle,
|
||
|
|
GetAngle(Rigid3f::Rotation(AngleAxisVectorToRotationQuaternion(
|
||
|
|
Eigen::Vector3f(angle * axis)))),
|
||
|
|
1e-6f);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(TransformTest, GetYaw) {
|
||
|
|
const auto rotation =
|
||
|
|
Rigid3d::Rotation(Eigen::AngleAxisd(1.2345, Eigen::Vector3d::UnitZ()));
|
||
|
|
EXPECT_NEAR(1.2345, GetYaw(rotation), 1e-9);
|
||
|
|
EXPECT_NEAR(-1.2345, GetYaw(rotation.inverse()), 1e-9);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(TransformTest, GetYawAxisOrdering) {
|
||
|
|
const auto rotation =
|
||
|
|
Rigid3d::Rotation(Eigen::AngleAxisd(1.2345, Eigen::Vector3d::UnitZ()) *
|
||
|
|
Eigen::AngleAxisd(0.4321, Eigen::Vector3d::UnitY()) *
|
||
|
|
Eigen::AngleAxisd(0.6789, Eigen::Vector3d::UnitX()));
|
||
|
|
EXPECT_NEAR(1.2345, GetYaw(rotation), 1e-9);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(TransformTest, Embed3D) {
|
||
|
|
const Rigid2d rigid2d({1., 2.}, 0.);
|
||
|
|
const Rigid3d rigid3d(
|
||
|
|
Rigid3d::Translation(Eigen::Vector3d(1., 2., 3.)) *
|
||
|
|
Rigid3d::Rotation(Eigen::Quaterniond(1., 2., 3., 4.).normalized()));
|
||
|
|
const Rigid3d expected =
|
||
|
|
rigid3d * Rigid3d::Translation(Eigen::Vector3d(1., 2., 0.));
|
||
|
|
EXPECT_THAT(expected, IsNearly(rigid3d * Embed3D(rigid2d), 1e-9));
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace
|
||
|
|
} // namespace transform
|
||
|
|
} // namespace cartographer
|