public void IsValid()
{
Matrix44D inValidPose = new Matrix44D(new double[, ] {
{ 1, 2, 3, 0 },
{ 4, 5, 6, 0 },
{ 7, 8, 9, 0 },
{ 0, 0, 0, 1 },
});
Assert.IsFalse(PoseD.IsValid(inValidPose));
Assert.IsTrue(PoseD.IsValid(Matrix44D.CreateRotationZ(0.3)));
inValidPose = new Matrix44D(new double[, ] {
{ 1, 0, 0, 0 },
{ 0, 1, 0, 0 },
{ 0, 0, 1, 0 },
{ 0, 1, 0, 1 },
});
Assert.IsFalse(PoseD.IsValid(inValidPose));
inValidPose = new Matrix44D(new double[, ] {
{ 1, 0, 0, 0 },
{ 0, 1, 0, 0 },
{ 0, 0, -1, 0 },
{ 0, 1, 0, 1 },
});
Assert.IsFalse(PoseD.IsValid(inValidPose));
}
