public void TestQuaternionsSlerp3()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(0.0, 30.0 / 180 * Math.PI, 0.0);
Quaternions q2 = new Quaternions();
q2.AxisAngle = new MCvPoint3D64f(0.0, 40.0 / 180 * Math.PI, 0.0);
double epsilon = 1.0e-12;
double x = 0, y = 0, z = 0;
Quaternions q = q1.Slerp(q2, 0.5);
q.GetEuler(ref x, ref y, ref z);
double deltaDegree = Math.Abs(y / Math.PI * 180.0 - 35.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
q = q1.Slerp(q2, 0.8);
q.GetEuler(ref x, ref y, ref z);
deltaDegree = Math.Abs(y / Math.PI * 180.0 - 38.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
q = q1.Slerp(q2, 0.15);
q.GetEuler(ref x, ref y, ref z);
deltaDegree = Math.Abs(y / Math.PI * 180.0 - 31.5);
EmguAssert.IsTrue(deltaDegree <= epsilon);
}
public void TestQuaternionsSlerp1()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
Quaternions q2 = new Quaternions();
q2.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
double epsilon = 1.0e-12;
Quaternions q = q1.Slerp(q2, 0.0);
EmguAssert.IsTrue(Math.Abs(q1.W - q.W) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.X - q.X) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Y - q.Y) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Z - q.Z) < epsilon);
q = q1.Slerp(q2, 1.0);
EmguAssert.IsTrue(Math.Abs(q2.W - q.W) < epsilon);
EmguAssert.IsTrue(Math.Abs(q2.X - q.X) < epsilon);
EmguAssert.IsTrue(Math.Abs(q2.Y - q.Y) < epsilon);
EmguAssert.IsTrue(Math.Abs(q2.Z - q.Z) < epsilon);
}
public void TestQuaternionsSlerp5()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(0.0, 355.0 / 180 * Math.PI, 0.0);
Quaternions q2 = new Quaternions();
q2.AxisAngle = new MCvPoint3D64f(0.0, 5.0 / 180 * Math.PI, 0.0);
double epsilon = 1.0e-12;
double x = 0, y = 0, z = 0;
Quaternions q = q1.Slerp(q2, 0.5);
q.GetEuler(ref x, ref y, ref z);
EmguAssert.IsFalse(double.IsNaN(x));
EmguAssert.IsFalse(double.IsNaN(y));
EmguAssert.IsFalse(double.IsNaN(z));
double deltaDegree = Math.Abs(y / Math.PI * 180.0 - 0.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
q = q2.Slerp(q1, 0.5);
q.GetEuler(ref x, ref y, ref z);
EmguAssert.IsFalse(double.IsNaN(x));
EmguAssert.IsFalse(double.IsNaN(y));
EmguAssert.IsFalse(double.IsNaN(z));
deltaDegree = Math.Abs(y / Math.PI * 180.0 - 0.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
}
public void TestQuaternionsSlerp5()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(0.0, 355.0 / 180 * Math.PI, 0.0);
Quaternions q2 = new Quaternions();
q2.AxisAngle = new MCvPoint3D64f(0.0, 5.0 / 180 * Math.PI, 0.0);
double epsilon = 1.0e-12;
double x = 0, y = 0, z = 0;
Quaternions q = q1.Slerp(q2, 0.5);
q.GetEuler(ref x, ref y, ref z);
EmguAssert.IsFalse(double.IsNaN(x));
EmguAssert.IsFalse(double.IsNaN(y));
EmguAssert.IsFalse(double.IsNaN(z));
double deltaDegree = Math.Abs(y / Math.PI * 180.0 - 0.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
q = q2.Slerp(q1, 0.5);
q.GetEuler(ref x, ref y, ref z);
EmguAssert.IsFalse(double.IsNaN(x));
EmguAssert.IsFalse(double.IsNaN(y));
EmguAssert.IsFalse(double.IsNaN(z));
deltaDegree = Math.Abs(y / Math.PI * 180.0 - 0.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
}
public void TestQuaternionsSlerp3()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(0.0, 30.0 / 180 * Math.PI, 0.0);
Quaternions q2 = new Quaternions();
q2.AxisAngle = new MCvPoint3D64f(0.0, 40.0 / 180 * Math.PI, 0.0);
double epsilon = 1.0e-12;
double x = 0, y = 0, z = 0;
Quaternions q = q1.Slerp(q2, 0.5);
q.GetEuler(ref x, ref y, ref z);
double deltaDegree = Math.Abs(y / Math.PI * 180.0 - 35.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
q = q1.Slerp(q2, 0.8);
q.GetEuler(ref x, ref y, ref z);
deltaDegree = Math.Abs(y / Math.PI * 180.0 - 38.0);
EmguAssert.IsTrue(deltaDegree <= epsilon);
q = q1.Slerp(q2, 0.15);
q.GetEuler(ref x, ref y, ref z);
deltaDegree = Math.Abs(y / Math.PI * 180.0 - 31.5);
EmguAssert.IsTrue(deltaDegree <= epsilon);
}
public void TestQuaternionsSlerp1()
{
Random r = new Random();
Quaternions q1 = new Quaternions();
q1.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
Quaternions q2 = new Quaternions();
q2.AxisAngle = new MCvPoint3D64f(r.NextDouble(), r.NextDouble(), r.NextDouble());
double epsilon = 1.0e-12;
Quaternions q = q1.Slerp(q2, 0.0);
EmguAssert.IsTrue(Math.Abs(q1.W - q.W) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.X - q.X) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Y - q.Y) < epsilon);
EmguAssert.IsTrue(Math.Abs(q1.Z - q.Z) < epsilon);
q = q1.Slerp(q2, 1.0);
EmguAssert.IsTrue(Math.Abs(q2.W - q.W) < epsilon);
EmguAssert.IsTrue(Math.Abs(q2.X - q.X) < epsilon);
EmguAssert.IsTrue(Math.Abs(q2.Y - q.Y) < epsilon);
EmguAssert.IsTrue(Math.Abs(q2.Z - q.Z) < epsilon);
}
