C# (CSharp) SrtTransform.FromPose示例

示例#1

        public void FromPose()
        {
            var pose = new Pose(new Vector3F(1, 2, 3), new QuaternionF(1, 2, 3, 4).Normalized);
            var srt  = SrtTransform.FromPose(pose);

            Assert.AreEqual(Vector3F.One, srt.Scale);
            Assert.AreEqual(pose.Position, srt.Translation);
            Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));

            pose = new Pose(new Vector3F(1, 2, 3), new QuaternionF(1, 2, 3, 4).Normalized);
            srt  = pose;

            Assert.AreEqual(Vector3F.One, srt.Scale);
            Assert.AreEqual(pose.Position, srt.Translation);
            Assert.IsTrue(Matrix33F.AreNumericallyEqual(pose.Orientation, srt.Rotation.ToRotationMatrix33()));
        }