public void GetHashCodeTest4()
{
var original = new CardanFrame(new Position3D(10, 20, 30), 10.0.DegToRad(), 20.0.DegToRad(), 30.0.DegToRad());
var cardan = new CardanFrame(new Position3D(30, 20, 10), 30.0.DegToRad(), 10.0.DegToRad(), 20.0.DegToRad());
Assert.NotEqual(original.GetHashCode(), cardan.GetHashCode());
}
public static CardanFrame ToCardanFrame(this CardanFrameDto cardanFrameDto)
{
var cardanFrame = new CardanFrame(
new Position3D(cardanFrameDto.OffsetX, cardanFrameDto.OffsetY, cardanFrameDto.OffsetZ),
cardanFrameDto.AlphaAngleAxisX,
cardanFrameDto.BetaAngleAxisY,
cardanFrameDto.GammaAngleAxisZ);
return(cardanFrame);
}
public void ConstructorTest1()
{
var cardan = new CardanFrame(new Position3D(10, 20, 30), 10.0.DegToRad(), 20.0.DegToRad(), 30.0.DegToRad());
Assert.Equal(new Position3D(10, 20, 30), cardan.Offset);
Assert.Equal(new Vector3D(10, 20, 30), cardan.Translation);
Assert.Equal(10.0.DegToRad(), cardan.AlphaAngleAxisX, 4);
Assert.Equal(20.0.DegToRad(), cardan.BetaAngleAxisY, 4);
Assert.Equal(30.0.DegToRad(), cardan.GammaAngleAxisZ, 4);
}
public static Matrix44D ToMatrix44D(this CardanFrame eulerFrame)
{
var alphaRotation = Matrix44D.CreateRotation(new Vector3D(1.0, 0.0, 0.0), eulerFrame.AlphaAngleAxisX);
var betaRotation = Matrix44D.CreateRotation(new Vector3D(0.0, 1.0, 0.0), eulerFrame.BetaAngleAxisY);
var gammaRotation = Matrix44D.CreateRotation(new Vector3D(0.0, 0.0, 1.0), eulerFrame.GammaAngleAxisZ);
var translation = Matrix44D.CreateTranslation(eulerFrame.Translation);
var matrix = translation * gammaRotation * betaRotation * alphaRotation;
return(matrix);
}
public void ToCardanTest2()
{
var cardanFrame = new CardanFrame(new Position3D(), 45.0.DegToRad(), 45.0.DegToRad(), 45.0.DegToRad());
var mat = cardanFrame.ToMatrix44D();
var ex1 = mat * new Vector3D(1, 0, 0);
var cardan = mat.ToCardanFrame();
var rot = cardan.ToMatrix44D();
Assert.Equal(mat, rot);
}
public void EqualsTest()
{
var original = new CardanFrame(new Position3D(10, 20, 30), 10.0.DegToRad(), 20.0.DegToRad(), 30.0.DegToRad());
var cardan = new CardanFrame(new Position3D(10, 20, 30), 10.0.DegToRad(), 20.0.DegToRad(), 30.0.DegToRad());
object originalObject = original;
object cardanObject = cardan;
Assert.True(original == cardan);
Assert.True(cardan == original);
Assert.True(original.Equals(cardan));
Assert.True(originalObject.Equals(cardanObject));
}
public static CardanFrameDto ToCardanFrameDto(this CardanFrame cardanFrame)
{
var cardanFrameDto = new CardanFrameDto()
{
OffsetX = cardanFrame.Offset.X,
OffsetY = cardanFrame.Offset.Y,
OffsetZ = cardanFrame.Offset.Z,
AlphaAngleAxisX = cardanFrame.AlphaAngleAxisX,
BetaAngleAxisY = cardanFrame.BetaAngleAxisY,
GammaAngleAxisZ = cardanFrame.GammaAngleAxisZ
};
return(cardanFrameDto);
}
public void ToCardanTest3()
{
var cardanFrame = new CardanFrame(new Position3D(), 269.96510228042916.DegToRad(), 0.00030437000552928036.DegToRad(), 89.0006093665338.DegToRad());
var mat = cardanFrame.ToMatrix44D();
var ex1 = mat * new Vector3D(1, 0, 0);
var cardan = mat.ToCardanFrame();
var alpha = cardan.AlphaAngleAxisX.RadToDeg();
var beta = cardan.BetaAngleAxisY.RadToDeg();
var Gamma = cardan.GammaAngleAxisZ.RadToDeg();
var rot = cardan.ToMatrix44D();
Assert.Equal(mat, rot);
}
