public void TestQuaternionEulerAngleAndRotate()
{
double epsilon = 1.0e-12;
Random r = new Random();
Quaternions q1 = new Quaternions();
double roll1 = r.NextDouble(), pitch1 = r.NextDouble(), yaw1 = r.NextDouble();
double roll2 = 0, pitch2 = 0, yaw2 = 0;
q1.SetEuler(roll1, pitch1, yaw1);
q1.GetEuler(ref roll2, ref pitch2, ref yaw2);
EmguAssert.IsTrue(Math.Abs(roll1 - roll2) < epsilon);
EmguAssert.IsTrue(Math.Abs(pitch1 - pitch2) < epsilon);
EmguAssert.IsTrue(Math.Abs(yaw1 - yaw2) < epsilon);
Quaternions q2 = new Quaternions();
q2.SetEuler(r.NextDouble(), r.NextDouble(), r.NextDouble());
MCvPoint3D64f p = new MCvPoint3D64f(r.NextDouble() * 10, r.NextDouble() * 10, r.NextDouble() * 10);
MCvPoint3D64f delta = (q1 * q2).RotatePoint(p) - q1.RotatePoint(q2.RotatePoint(p));
EmguAssert.IsTrue(delta.X < epsilon);
EmguAssert.IsTrue(delta.Y < epsilon);
EmguAssert.IsTrue(delta.Z < epsilon);
}
public void TestQuaternion2()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.SetEuler(r.NextDouble(), r.NextDouble(), r.NextDouble());
Quaternions q2 = new Quaternions();
q2.SetEuler(r.NextDouble(), r.NextDouble(), r.NextDouble());
MCvPoint3D64f p = new MCvPoint3D64f(r.NextDouble() * 10, r.NextDouble() * 10, r.NextDouble() * 10);
MCvPoint3D64f delta = (q1 * q2).RotatePoint(p) - q1.RotatePoint(q2.RotatePoint(p));
double epsilon = 1.0e-8;
Assert.Less(delta.x, epsilon);
Assert.Less(delta.y, epsilon);
Assert.Less(delta.z, epsilon);
}
public void TestQuaternionEulerAngleAndRotate()
{
double epsilon = 1.0e-12;
Random r = new Random();
Quaternions q1 = new Quaternions();
double roll1 = r.NextDouble(), pitch1 = r.NextDouble(), yaw1 = r.NextDouble();
double roll2 = 0, pitch2 = 0, yaw2 = 0;
q1.SetEuler(roll1, pitch1, yaw1);
q1.GetEuler(ref roll2, ref pitch2, ref yaw2);
EmguAssert.IsTrue(Math.Abs(roll1 - roll2) < epsilon);
EmguAssert.IsTrue(Math.Abs(pitch1 - pitch2) < epsilon);
EmguAssert.IsTrue(Math.Abs(yaw1 - yaw2) < epsilon);
Quaternions q2 = new Quaternions();
q2.SetEuler(r.NextDouble(), r.NextDouble(), r.NextDouble());
MCvPoint3D64f p = new MCvPoint3D64f(r.NextDouble() * 10, r.NextDouble() * 10, r.NextDouble() * 10);
MCvPoint3D64f delta = (q1 * q2).RotatePoint(p) - q1.RotatePoint(q2.RotatePoint(p));
EmguAssert.IsTrue(delta.X < epsilon);
EmguAssert.IsTrue(delta.Y < epsilon);
EmguAssert.IsTrue(delta.Z < epsilon);
}
