public void CreateRotationY()
{
double angle = 0.3;
QuaternionD q = QuaternionD.CreateRotation(Vector3D.UnitY, angle);
QuaternionD qy = QuaternionD.CreateRotationY(angle);
Assert.AreEqual(q, qy);
}
public void MultiplyOperator()
{
PoseD p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
PoseD p2 = new PoseD(new Vector3D(-4, 5, -6), QuaternionD.CreateRotationZ(-0.1));
Assert.IsTrue(Vector4D.AreNumericallyEqual(
p1.ToMatrix44D() * p2.ToMatrix44D() * new Vector4D(1, 2, 3, 1),
p1 * p2 * new Vector4D(1, 2, 3, 1)));
}
public void Equals()
{
PoseD p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
PoseD p2 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
Assert.AreEqual(p1, p2);
Assert.IsTrue(p1.Equals((object)p2));
Assert.IsTrue(p1.Equals(p2));
Assert.IsFalse(p1.Equals(p2.ToMatrix44D()));
}
public void Interpolate()
{
PoseD p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
PoseD p2 = new PoseD(new Vector3D(-4, 5, -6), QuaternionD.CreateRotationZ(-0.1));
Assert.IsTrue(Vector3D.AreNumericallyEqual(p1.Position, PoseD.Interpolate(p1, p2, 0).Position));
Assert.IsTrue(Matrix33D.AreNumericallyEqual(p1.Orientation, PoseD.Interpolate(p1, p2, 0).Orientation));
Assert.IsTrue(Vector3D.AreNumericallyEqual(p2.Position, PoseD.Interpolate(p1, p2, 1).Position));
Assert.IsTrue(Matrix33D.AreNumericallyEqual(p2.Orientation, PoseD.Interpolate(p1, p2, 1).Orientation));
Assert.IsTrue(Vector3D.AreNumericallyEqual(InterpolationHelper.Lerp(p1.Position, p2.Position, 0.3), PoseD.Interpolate(p1, p2, 0.3).Position));
Assert.IsTrue(
QuaternionD.AreNumericallyEqual(
InterpolationHelper.Lerp(QuaternionD.CreateRotation(p1.Orientation), QuaternionD.CreateRotation(p2.Orientation), 0.3),
QuaternionD.CreateRotation(PoseD.Interpolate(p1, p2, 0.3).Orientation)));
}
public void GetHashCodeTest()
{
PoseD p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
PoseD p2 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
Assert.AreEqual(p1.GetHashCode(), p2.GetHashCode());
p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
p2 = new PoseD(new Vector3D(2, 1, 3), QuaternionD.CreateRotationY(0.3));
Assert.AreNotEqual(p1.GetHashCode(), p2.GetHashCode());
// Too bad two rotation matrices that differ only by the sign of the angle
// (+/- angle with same axis) have the same hashcodes. See KB -> .NET --> GetHashCode
//p1 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(0.3));
//p2 = new PoseD(new Vector3D(1, 2, 3), QuaternionD.CreateRotationY(-0.3));
//Assert.AreNotEqual(p1.GetHashCode(), p2.GetHashCode());
}
