public void CombinedPositionAndOrientationInOutTest()
{
this.mlocmoq = new MarkerLocations();
this.sensor = new MarkerSensor(this.mlocmoq, 5, this.posDistType.Object, this.oriDistType.Object);
for (int i = 0; i < this.bulkData.Length; i++)
{
Pose marker = new Pose(
new Vector3(
this.bulkData[i][0],
this.bulkData[i][1],
this.bulkData[i][2]),
new Vector3(this.bulkData[i][3], this.bulkData[i][4], this.bulkData[i][5]));
Pose measurement = new Pose(
new Vector3(
this.bulkData[i][6],
this.bulkData[i][7],
this.bulkData[i][8]),
new Vector3(this.bulkData[i][9], this.bulkData[i][10], this.bulkData[i][11]));
Pose output = new Pose(
new Vector3(this.bulkData[i][12], this.bulkData[i][13], this.bulkData[i][14]),
new Vector3(this.bulkData[i][15], this.bulkData[i][16], this.bulkData[i][17]));
this.mlocmoq.AddMarker(i, marker);
this.TestComplexInOut(measurement, output, i);
}
}
public void TestConstructorEmptyAddMarkerException()
{
this.markerLocations = new MarkerLocations();
Pose newMarker = new Pose(this.position, this.rotation);
this.markerLocations.AddMarker(2, newMarker);
Assert.AreEqual(this.markerLocations.GetMarker(2), newMarker);
}
public void TestFloatingPointRead()
{
this.markerLocations = new MarkerLocations(TestContext.CurrentContext.TestDirectory + "\\MarkerMapFloat.xml");
Assert.AreEqual(this.markerLocations.GetMarker(0).Position.X, 25.12f);
Assert.AreEqual(this.markerLocations.GetMarker(0).Position.Y, 13.52f);
Assert.AreEqual(this.markerLocations.GetMarker(0).Position.Z, 5.00f);
Assert.AreEqual(this.markerLocations.GetMarker(0).Orientation.X, 0.15f);
Assert.AreEqual(this.markerLocations.GetMarker(0).Orientation.Y, 0.23f);
Assert.AreEqual(this.markerLocations.GetMarker(0).Orientation.Z, 0.00f);
}
public void Init()
{
this.mlocmoq = new MarkerLocations();
this.mlocmoq.AddMarker(
0,
new Pose(new Vector3(25, 13.52f, 5), new Vector3(0, 0, 0)));
this.mlocmoq.AddMarker(
1,
new Pose(new Vector3(12, 21.12f, 13), new Vector3(0, 0, 0)));
this.posDistType = new Mock <IDistribution>();
this.oriDistType = new Mock <IDistribution>();
this.sensor = new MarkerSensor(this.mlocmoq, this.posDistType.Object, this.oriDistType.Object);
}
public void SimpleUserPositionTest2()
{
Pose marker = new Pose(new Vector3(1, 0, 1), new Vector3(0, 0, 0));
Pose rel = new Pose(new Vector3(2, 0, 1), new Vector3(0, 180, 0));
MarkerLocations mloc = new MarkerLocations();
mloc.AddMarker(1, marker);
this.sensor = new MarkerSensor(mloc, 5, this.posDistType.Object, this.oriDistType.Object);
Dictionary <int, Pose> dic = new Dictionary <int, Pose>();
dic.Add(1, rel);
this.sensor.UpdateLocations(1, dic);
this.AssertVectorAreEqual(new Vector3(3, 0, 2), this.sensor.GetLastPosition().Data, this.vectorEpsilon);
}
public void GetMeasurementAtTimeStamp()
{
Pose marker = new Pose(new Vector3(2, 0, 1), new Vector3(0, 0, 0));
Pose rel = new Pose(new Vector3(1, 0, 1), new Vector3(0, 180, 0));
MarkerLocations mloc = new MarkerLocations();
mloc.AddMarker(1, marker);
this.sensor = new MarkerSensor(mloc, 5, this.posDistType.Object, this.oriDistType.Object);
Dictionary <int, Pose> dic = new Dictionary <int, Pose>();
dic.Add(1, rel);
this.sensor.UpdateLocations(1, dic);
this.AssertVectorAreEqual(new Vector3(3, 0, 2), this.sensor.GetPosition(1).Data, this.vectorEpsilon);
this.AssertRotationAreEqual(new Vector3(0, 180, 0), this.sensor.GetOrientation(1).Data, this.vectorEpsilon);
}
public void TestConstructorException()
{
this.markerLocations = new MarkerLocations(TestContext.CurrentContext.TestDirectory + "\\MarkerMap01.xml");
Assert.That(() => this.markerLocations.GetMarker(2), Throws.TypeOf <UnallocatedMarkerException>());
}
public void TestConstructorLoad()
{
this.markerLocations = new MarkerLocations(TestContext.CurrentContext.TestDirectory + "\\MarkerMap01.xml");
Assert.AreEqual(this.markerLocations.GetMarker(0).Position.X, 25);
Assert.AreEqual(this.markerLocations.GetMarker(0).Position.Y, 13.52f);
}
public void TestConstructorEmpty()
{
this.markerLocations = new MarkerLocations();
Assert.That(() => this.markerLocations.GetMarker(1), Throws.TypeOf <UnallocatedMarkerException>());
}
