public void RotationMatrix3d_RotateRotateVector_Expected(string origin, string axis, double angle, string expected)
{
// Prepare
Cartesian3dCoordinate o = new Cartesian3dCoordinate(origin);
Cartesian3dCoordinate a = new Cartesian3dCoordinate(axis);
Cartesian3dCoordinate e = new Cartesian3dCoordinate(expected);
RotationMatrix3d m = new RotationMatrix3d(a, angle);
// Execute
Cartesian3dCoordinate r = m.Rotate(o);
// Verify
Assert.Equal(e.X, r.X, PRECISION_DOUBLE);
Assert.Equal(e.Y, r.Y, PRECISION_DOUBLE);
Assert.Equal(e.Z, r.Z, PRECISION_DOUBLE);
}
public void RotationMatrix3d_SumDifferentRotationAndRotateVector_Expected(string origin, string axis, double angle, string axis2, double angle2, string expected)
{
// Prepare
Cartesian3dCoordinate o = new Cartesian3dCoordinate(origin);
Cartesian3dCoordinate a = new Cartesian3dCoordinate(axis);
Cartesian3dCoordinate a2 = new Cartesian3dCoordinate(axis2);
Cartesian3dCoordinate e = new Cartesian3dCoordinate(expected);
RotationMatrix3d first = new RotationMatrix3d(a, angle);
RotationMatrix3d second = new RotationMatrix3d(a2, angle2);
// Execute
RotationMatrix3d m = first.Rotate(second);
Cartesian3dCoordinate r = m.Rotate(o);
// Verify
Assert.Equal(e.X, r.X, PRECISION_DOUBLE);
Assert.Equal(e.Y, r.Y, PRECISION_DOUBLE);
Assert.Equal(e.Z, r.Z, PRECISION_DOUBLE);
}
