public void ToPose()
{
var srt = new SrtTransform(new Vector3F(4, 5, 6), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(1, 2, 3));
var pose = srt.ToPose();
Assert.AreEqual(pose.Position, srt.Translation);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
srt = new SrtTransform(new Vector3F(4, 5, 6), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(1, 2, 3));
pose = (Pose)srt;
Assert.AreEqual(pose.Position, srt.Translation);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
}
public void ToPose()
{
var srt = new SrtTransform(new Vector3F(4, 5, 6), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(1, 2, 3));
var pose = srt.ToPose();
Assert.AreEqual(pose.Position, srt.Translation);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
srt = new SrtTransform(new Vector3F(4, 5, 6), new QuaternionF(1, 2, 3, 4).Normalized, new Vector3F(1, 2, 3));
pose = (Pose)srt;
Assert.AreEqual(pose.Position, srt.Translation);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
}
