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

TESTEULERZYX

#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 207 of file framestest.cpp.

TESTEULERZYX_INVARIANT

#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 228 of file framestest.cpp.

TESTEULERZYZ

#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 218 of file framestest.cpp.

TESTEULERZYZ_INVARIANT

#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 235 of file framestest.cpp.

Function Documentation

CPPUNIT_TEST_SUITE_REGISTRATION()

CPPUNIT_TEST_SUITE_REGISTRATION

(

FramesTest

)

CreateRandomJntArray()

JntArray CreateRandomJntArray

(

int

size

)

Definition at line 673 of file framestest.cpp.