diff --git a/Makefile b/Makefile index adda86be..aef1b10c 100644 --- a/Makefile +++ b/Makefile @@ -529,10 +529,11 @@ test-unit-python-standalone: ## Run Python unit tests (standalone) --workdir=/app/build \ $(docker_development_image_repository):$(docker_image_version) \ /bin/bash -c "cmake -DBUILD_PYTHON_BINDINGS=ON -DBUILD_UNIT_TESTS=OFF .. \ - && $(MAKE) -j 4 && python3.11 -m pip install --root-user-action=ignore bindings/python/OpenSpaceToolkit*Py-python-package-3.11 \ - && python3.11 -m pip install plotly pandas \ - && cd /usr/local/lib/python3.11/site-packages/ostk/$(project_name)/ \ - && python3.11 -m pytest -sv ." + && $(MAKE) -j 4 \ + && python$(jupyter_python_version) -m pip install --root-user-action=ignore bindings/python/OpenSpaceToolkit*Py-python-package-$(jupyter_python_version) \ + && python$(jupyter_python_version) -m pip install plotly pandas \ + && cd /usr/local/lib/python$(jupyter_python_version)/dist-packages/ostk/$(project_name)/ \ + && python$(jupyter_python_version) -m pytest -sv ." .PHONY: test-unit-python-standalone diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting.cpp index 0d5ef4cc..b42aec41 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting.cpp @@ -7,7 +7,6 @@ inline void OpenSpaceToolkitMathematicsPy_CurveFitting(pybind11::module& aModule // Create "curve fitting" python submodule auto curve_fitting = aModule.def_submodule("curve_fitting"); - // Add object to python "interpolators" submodules OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator(curve_fitting); } diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting/Interpolator.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting/Interpolator.cpp index a265b42e..f19d6de8 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting/Interpolator.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting/Interpolator.cpp @@ -62,7 +62,6 @@ inline void OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator(pybind11::mo // Create "interpolator" python submodule auto interpolator = aModule.def_submodule("interpolator"); - // Add object to python "interpolator" submodules OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator_BarycentricRational(interpolator); OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator_CubicSpline(interpolator); diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry.cpp index bb6757c7..a3f84331 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry.cpp @@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry(pybind11::module& aModule) // Create "geometry" python submodule auto geometry = aModule.def_submodule("geometry"); - // Add object to python "geometry" submodules OpenSpaceToolkitMathematicsPy_Geometry_2D(geometry); OpenSpaceToolkitMathematicsPy_Geometry_3D(geometry); diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D.cpp index 1e1b132a..c9537faa 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D.cpp @@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_2D(pybind11::module& aModule) // Create "d2" python submodule auto d2 = aModule.def_submodule("d2"); - // Add object to python "d2" submodules OpenSpaceToolkitMathematicsPy_Geometry_2D_Object(d2); OpenSpaceToolkitMathematicsPy_Geometry_2D_Transformation(d2); diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D/Object.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D/Object.cpp index 8d91755a..f76182b2 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D/Object.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D/Object.cpp @@ -62,7 +62,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_2D_Object(pybind11::module &a // Create "object" python submodule auto object = aModule.def_submodule("object"); - // Add object to python "object" submodules OpenSpaceToolkitMathematicsPy_Geometry_2D_Object_Point(object); OpenSpaceToolkitMathematicsPy_Geometry_2D_Object_PointSet(object); diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D.cpp index e10b0eaf..6707f7e2 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D.cpp @@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D(pybind11::module& aModule) // Create "d3" python submodule auto d3 = aModule.def_submodule("d3"); - // Add object to python "d3" submodules OpenSpaceToolkitMathematicsPy_Geometry_3D_Object(d3); OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation(d3); diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Object.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Object.cpp index e4c7fb83..4f006383 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Object.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Object.cpp @@ -225,7 +225,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Object(pybind11::module& a // Create "object" python submodule auto object = aModule.def_submodule("object"); - // Add object to python "object" submodules OpenSpaceToolkitMathematicsPy_Geometry_3D_Object_Point(object); OpenSpaceToolkitMathematicsPy_Geometry_3D_Object_PointSet(object); diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp index 5949114e..e6e3f521 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp @@ -64,7 +64,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation(pybind11::m // Create "transformation" python submodule auto transformation_module = aModule.def_submodule("transformation"); - // Add object to python "transformation" submodules OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation(transformation_module); } diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation.cpp index 87eb13e0..a0586778 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation.cpp @@ -1,5 +1,6 @@ /// Apache License 2.0 +#include #include #include #include @@ -9,9 +10,9 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation(py // Create "rotation" python submodule auto rotation = aModule.def_submodule("rotation"); - // Add object to python "rotation" submodules OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Quaternion(rotation); OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_RotationVector(rotation); OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_RotationMatrix(rotation); + OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_EulerAngle(rotation); } diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/EulerAngle.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/EulerAngle.cpp new file mode 100644 index 00000000..6d7b3722 --- /dev/null +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/EulerAngle.cpp @@ -0,0 +1,90 @@ +/// Apache License 2.0 + +#include +#include +#include +#include + +inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_EulerAngle(pybind11::module& aModule) +{ + using namespace pybind11; + + using ostk::core::type::Real; + using ostk::core::type::String; + + using ostk::mathematics::object::Vector3d; + using ostk::mathematics::geometry::Angle; + using ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle; + + class_ eulerAngle(aModule, "EulerAngle"); + + eulerAngle + // Define constructor + .def( + init(), + arg("phi"), + arg("theta"), + arg("psi"), + arg("axis_sequence") + ) + .def( + init(), + arg("vector"), + arg("angle_unit"), + arg("axis_sequence") + ) + + // Define methods + .def(self == self) + .def(self != self) + + .def("__str__", &(shiftToString)) + .def("__repr__", &(shiftToString)) + + .def("is_defined", &EulerAngle::isDefined) + .def("is_unitary", &EulerAngle::isUnitary) + .def("is_near", &EulerAngle::isNear, arg("euler_angle"), arg("angular_tolerance")) + + .def_property_readonly("phi", &EulerAngle::getPhi) + .def_property_readonly("theta", &EulerAngle::getTheta) + .def_property_readonly("psi", &EulerAngle::getPsi) + .def_property_readonly("axis_sequence", &EulerAngle::getAxisSequence) + + .def("to_vector", &EulerAngle::toVector, arg("angle_unit")) + .def( + "to_string", + +[](const EulerAngle& aEulerAngle) -> String + { + return aEulerAngle.toString(); + } + ) + .def( + "to_string", + +[](const EulerAngle& aEulerAngle, const Angle::Unit& anAngleUnit) -> String + { + return aEulerAngle.toString(anAngleUnit); + }, + arg("angle_unit") + ) + + // Define static methods + .def_static("undefined", &EulerAngle::Undefined) + .def_static("unit", &EulerAngle::Unit) + .def_static("xyz", &EulerAngle::XYZ, arg("phi"), arg("theta"), arg("psi")) + .def_static("zxy", &EulerAngle::ZXY, arg("phi"), arg("theta"), arg("psi")) + .def_static("zyx", &EulerAngle::ZYX, arg("phi"), arg("theta"), arg("psi")) + .def_static("quaternion", &EulerAngle::Quaternion, arg("quaternion"), arg("axis_sequence")) + .def_static("rotation_vector", &EulerAngle::RotationVector, arg("rotation_vector"), arg("axis_sequence")) + .def_static("rotation_matrix", &EulerAngle::RotationMatrix, arg("rotation_matrix"), arg("axis_sequence")) + + ; + + enum_(eulerAngle, "AxisSequence") + + .value("Undefined", EulerAngle::AxisSequence::Undefined) + .value("XYZ", EulerAngle::AxisSequence::XYZ) + .value("ZXY", EulerAngle::AxisSequence::ZXY) + .value("ZYX", EulerAngle::AxisSequence::ZYX) + + ; +} diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp index a2e30804..206b3c39 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp @@ -147,6 +147,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Qu ) .def_static("rotation_vector", &Quaternion::RotationVector, arg("rotation_vector")) .def_static("rotation_matrix", &Quaternion::RotationMatrix, arg("rotation_matrix")) + .def_static("euler_angle", &Quaternion::EulerAngle, arg("euler_angle")) .def_static("parse", &Quaternion::Parse, arg("string"), arg("format")) .def_static("shortest_rotation", &Quaternion::ShortestRotation, arg("first_vector"), arg("second_vector")) .def_static("lerp", &Quaternion::LERP, arg("first_quaternion"), arg("second_quaternion"), arg("ratio")) diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp index 4764f4bb..fd8ed8c2 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp @@ -75,6 +75,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro .def_static("columns", &RotationMatrix::Columns, arg("first_column"), arg("second_column"), arg("third_column")) .def_static("quaternion", &RotationMatrix::Quaternion, arg("quaternion")) .def_static("rotation_vector", &RotationMatrix::RotationVector, arg("rotation_vector")) + .def_static("euler_angle", &RotationMatrix::EulerAngle, arg("euler_angle")) ; } diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp index 6c3c6038..da4bdc70 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp @@ -20,6 +20,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro // Define constructor .def(init(), arg("axis"), arg("angle")) + .def(init(), arg("vector"), arg("angle_unit")) // Define methods .def(self == self) @@ -47,6 +48,14 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro } ) + .def( + "rectify", + +[](RotationVector& aRotationVector) -> void + { + aRotationVector.rectify(); + } + ) + // Define static methods .def_static("undefined", &RotationVector::Undefined) .def_static("unit", &RotationVector::Unit) @@ -55,6 +64,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro .def_static("z", &RotationVector::Z, arg("angle")) .def_static("quaternion", &RotationVector::Quaternion, arg("quaternion")) .def_static("rotation_matrix", &RotationVector::RotationMatrix, arg("rotation_matrix")) + .def_static("euler_angle", &RotationVector::EulerAngle, arg("euler_angle")) ; } diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/Angle.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/Angle.cpp index fda4e7b9..eed7ba22 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/Angle.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/Angle.cpp @@ -82,6 +82,8 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_Angle(pybind11::module& aModu .def("is_defined", &Angle::isDefined) .def("is_zero", &Angle::isZero) + .def("is_negative", &Angle::isNegative) + .def("is_near", &Angle::isNear, arg("angle"), arg("tolerance")) .def("get_unit", &Angle::getUnit) .def("in_unit", &Angle::in, arg("unit")) diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Object.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Object.cpp index 7e6e2dd4..c2632adc 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Object.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Object.cpp @@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Object(pybind11::module& aModule) // Create "object" python submodule auto object = aModule.def_submodule("object"); - // Add object to python "object" submodules OpenSpaceToolkitMathematicsPy_Object_Interval(object); // OpenSpaceToolkitMathematicsPy_Object_Vector(object) ; diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Solver.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Solver.cpp index 0d1aa81b..853c02a1 100644 --- a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Solver.cpp +++ b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Solver.cpp @@ -7,7 +7,6 @@ inline void OpenSpaceToolkitMathematicsPy_Solver(pybind11::module& aModule) // Create "object" python submodule auto solver = aModule.def_submodule("solver"); - // Add object to python "interpolators" submodules OpenSpaceToolkitMathematicsPy_Solver_NumericalSolver(solver); } diff --git a/bindings/python/test/curve_fitting/interpolator/test_barycentric_rational.py b/bindings/python/test/curve_fitting/interpolator/test_barycentric_rational.py index 23fa51ac..779938bd 100644 --- a/bindings/python/test/curve_fitting/interpolator/test_barycentric_rational.py +++ b/bindings/python/test/curve_fitting/interpolator/test_barycentric_rational.py @@ -14,7 +14,7 @@ def interpolator() -> BarycentricRational: class TestBarycentricRational: - def test_constructors(self, interpolator: BarycentricRational): + def test_constructor_success(self, interpolator: BarycentricRational): assert interpolator is not None assert isinstance(interpolator, Interpolator) assert isinstance(interpolator, BarycentricRational) diff --git a/bindings/python/test/curve_fitting/interpolator/test_cubic_spline.py b/bindings/python/test/curve_fitting/interpolator/test_cubic_spline.py index 78b118bf..e8a30dde 100644 --- a/bindings/python/test/curve_fitting/interpolator/test_cubic_spline.py +++ b/bindings/python/test/curve_fitting/interpolator/test_cubic_spline.py @@ -16,7 +16,7 @@ def interpolator() -> CubicSpline: class TestCubicSpline: - def test_constructors(self, interpolator: CubicSpline): + def test_constructor_success(self, interpolator: CubicSpline): assert interpolator is not None assert isinstance(interpolator, Interpolator) assert isinstance(interpolator, CubicSpline) diff --git a/bindings/python/test/curve_fitting/interpolator/test_linear.py b/bindings/python/test/curve_fitting/interpolator/test_linear.py index 7e4082c1..addf1f1e 100644 --- a/bindings/python/test/curve_fitting/interpolator/test_linear.py +++ b/bindings/python/test/curve_fitting/interpolator/test_linear.py @@ -12,12 +12,11 @@ def interpolator() -> Linear: class TestLinear: - def test_constructors(self, interpolator: Linear): + def test_constructor_success(self, interpolator: Linear): assert interpolator is not None assert isinstance(interpolator, Interpolator) assert isinstance(interpolator, Linear) - def test_evaluate(self): interpolator = Linear( x=[0.0, 1.0, 2.0, 4.0, 5.0, 6.0], y=[0.0, 3.0, 6.0, 9.0, 17.0, 5.0] diff --git a/bindings/python/test/geometry/d3/object/test_linestring.py b/bindings/python/test/geometry/d3/object/test_linestring.py index fd7ddc73..9688fe76 100644 --- a/bindings/python/test/geometry/d3/object/test_linestring.py +++ b/bindings/python/test/geometry/d3/object/test_linestring.py @@ -41,7 +41,9 @@ def test_constructor_success(self): assert linestring.is_defined() # Construction with Array of Points using python numpy array - linestring: LineString = LineString(np.array((point_1, point_2, point_3, point_4))) + linestring: LineString = LineString( + np.array((point_1, point_2, point_3, point_4)) + ) assert linestring is not None assert isinstance(linestring, LineString) diff --git a/bindings/python/test/geometry/d3/transformation/rotation/test_euler_angle.py b/bindings/python/test/geometry/d3/transformation/rotation/test_euler_angle.py new file mode 100644 index 00000000..7953580f --- /dev/null +++ b/bindings/python/test/geometry/d3/transformation/rotation/test_euler_angle.py @@ -0,0 +1,138 @@ +# Apache License 2.0 + +import pytest + +import numpy as np + +from ostk.mathematics.geometry import Angle +from ostk.mathematics.geometry.d3.transformation.rotation import Quaternion +from ostk.mathematics.geometry.d3.transformation.rotation import RotationVector +from ostk.mathematics.geometry.d3.transformation.rotation import RotationMatrix +from ostk.mathematics.geometry.d3.transformation.rotation import EulerAngle + + +@pytest.fixture +def euler_angle() -> EulerAngle: + return EulerAngle.unit() + + +class TestEulerAngle: + def test_constructor_success(self): + EulerAngle( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + axis_sequence=EulerAngle.AxisSequence.ZYX, + ) + + EulerAngle( + vector=(0.0, 0.0, 0.0), + angle_unit=Angle.Unit.Degree, + axis_sequence=EulerAngle.AxisSequence.ZYX, + ) + + def test_operators_success(self, euler_angle: EulerAngle): + assert (euler_angle == euler_angle) is True + assert (euler_angle != euler_angle) is False + + def test_str_success(self, euler_angle: EulerAngle): + assert str(euler_angle) is not None + + def test_repr_success(self, euler_angle: EulerAngle): + assert repr(euler_angle) is not None + + def test_is_defined_success(self, euler_angle: EulerAngle): + assert euler_angle.is_defined() + + def test_is_unitary_success(self, euler_angle: EulerAngle): + assert euler_angle.is_unitary() + + def test_is_near_success(self, euler_angle: EulerAngle): + assert euler_angle.is_near( + euler_angle=euler_angle, + angular_tolerance=Angle.zero(), + ) + + def test_properties_success(self, euler_angle: EulerAngle): + assert euler_angle.phi == Angle.degrees(0.0) + assert euler_angle.theta == Angle.degrees(0.0) + assert euler_angle.psi == Angle.degrees(0.0) + assert euler_angle.axis_sequence == EulerAngle.AxisSequence.ZYX + + def test_to_vector_success(self, euler_angle: EulerAngle): + assert np.array_equal( + euler_angle.to_vector(angle_unit=Angle.Unit.Degree), np.array((0.0, 0.0, 0.0)) + ) + + def test_to_string_success(self, euler_angle: EulerAngle): + assert euler_angle.to_string() == "[0, 0, 0] (ZYX)" + assert euler_angle.to_string(angle_unit=Angle.Unit.Degree) == "[0, 0, 0] (ZYX)" + + def test_undefined_success(self): + assert not EulerAngle.undefined().is_defined() + + def test_unit_success(self, euler_angle: EulerAngle): + assert EulerAngle.unit() == euler_angle + + def test_xyz_success(self): + assert EulerAngle.xyz( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + ) == EulerAngle( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + axis_sequence=EulerAngle.AxisSequence.XYZ, + ) + + def test_zxy_success(self): + assert EulerAngle.zxy( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + ) == EulerAngle( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + axis_sequence=EulerAngle.AxisSequence.ZXY, + ) + + def test_zyx_success(self): + assert EulerAngle.zyx( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + ) == EulerAngle( + phi=Angle.zero(), + theta=Angle.zero(), + psi=Angle.zero(), + axis_sequence=EulerAngle.AxisSequence.ZYX, + ) + + def test_quaternion_success(self): + assert ( + EulerAngle.quaternion( + quaternion=Quaternion.unit(), + axis_sequence=EulerAngle.AxisSequence.ZYX, + ) + == EulerAngle.unit() + ) + + def test_rotation_vector_success(self): + assert ( + EulerAngle.rotation_vector( + rotation_vector=RotationVector.unit(), + axis_sequence=EulerAngle.AxisSequence.ZYX, + ) + == EulerAngle.unit() + ) + + def test_rotation_matrix_success(self): + assert ( + EulerAngle.rotation_matrix( + rotation_matrix=RotationMatrix.unit(), + axis_sequence=EulerAngle.AxisSequence.ZYX, + ) + == EulerAngle.unit() + ) diff --git a/bindings/python/test/geometry/d3/transformation/rotation/test_quaternion.py b/bindings/python/test/geometry/d3/transformation/rotation/test_quaternion.py index 501b97ac..25a60810 100644 --- a/bindings/python/test/geometry/d3/transformation/rotation/test_quaternion.py +++ b/bindings/python/test/geometry/d3/transformation/rotation/test_quaternion.py @@ -4,13 +4,11 @@ import numpy as np -from ostk.mathematics import geometry - - -Angle = geometry.Angle -Quaternion = geometry.d3.transformation.rotation.Quaternion -RotationVector = geometry.d3.transformation.rotation.RotationVector -RotationMatrix = geometry.d3.transformation.rotation.RotationMatrix +from ostk.mathematics.geometry import Angle +from ostk.mathematics.geometry.d3.transformation.rotation import Quaternion +from ostk.mathematics.geometry.d3.transformation.rotation import RotationVector +from ostk.mathematics.geometry.d3.transformation.rotation import RotationMatrix +from ostk.mathematics.geometry.d3.transformation.rotation import EulerAngle @pytest.fixture @@ -19,7 +17,7 @@ def quaternion() -> Quaternion: class TestQuaternion: - def test_constructors_success(self, quaternion: Quaternion): + def test_constructor_success(self, quaternion: Quaternion): assert Quaternion(0.0, 0.0, 0.0, 1.0, Quaternion.Format.XYZS) == quaternion assert ( Quaternion(np.array((0.0, 0.0, 0.0, 1.0)), Quaternion.Format.XYZS) @@ -160,6 +158,9 @@ def test_rotation_vector_success(self, quaternion: Quaternion): def test_rotation_matrix_success(self, quaternion: Quaternion): assert Quaternion.rotation_matrix(RotationMatrix.rz(Angle.zero())) == quaternion + def test_euler_angle_success(self, quaternion: Quaternion): + assert Quaternion.euler_angle(EulerAngle.unit()) == quaternion + def test_parse_success(self, quaternion: Quaternion): assert ( Quaternion.parse("[0.0, 0.0, 0.0, 1.0]", Quaternion.Format.XYZS) == quaternion diff --git a/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_matrix.py b/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_matrix.py index c7f3130f..de3506da 100644 --- a/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_matrix.py +++ b/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_matrix.py @@ -1,24 +1,23 @@ # Apache License 2.0 -from ostk.mathematics import geometry - - -Angle = geometry.Angle -Quaternion = geometry.d3.transformation.rotation.Quaternion -RotationMatrix = geometry.d3.transformation.rotation.RotationMatrix - - -# isDefined -# getRowAt -# getColumnAt -# toTransposed -# transpose -# Undefined -# Unit -# RX -# RY -# RZ -# Rows -# Columns -# Quaternion -# RotationVector +import pytest + +from ostk.mathematics.geometry.d3.transformation.rotation import Quaternion +from ostk.mathematics.geometry.d3.transformation.rotation import RotationMatrix +from ostk.mathematics.geometry.d3.transformation.rotation import EulerAngle + + +@pytest.fixture +def rotation_matrix() -> RotationMatrix: + return RotationMatrix.unit() + + +class TestRotationMatrix: + def test_is_defined_success(self, rotation_matrix: RotationMatrix): + assert rotation_matrix.is_defined() is True + + def test_quaternion_success(self, rotation_matrix: RotationMatrix): + assert RotationMatrix.quaternion(Quaternion.unit()) == rotation_matrix + + def test_euler_angle_success(self, rotation_matrix: RotationMatrix): + assert RotationMatrix.euler_angle(EulerAngle.unit()) == rotation_matrix diff --git a/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_vector.py b/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_vector.py index edd72d88..4ec287df 100644 --- a/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_vector.py +++ b/bindings/python/test/geometry/d3/transformation/rotation/test_rotation_vector.py @@ -1,34 +1,47 @@ # Apache License 2.0 -import numpy +import pytest -from ostk.mathematics import geometry +import numpy as np +from ostk.mathematics.geometry import Angle +from ostk.mathematics.geometry.d3.transformation.rotation import Quaternion +from ostk.mathematics.geometry.d3.transformation.rotation import RotationVector +from ostk.mathematics.geometry.d3.transformation.rotation import EulerAngle -Angle = geometry.Angle -Quaternion = geometry.d3.transformation.rotation.Quaternion -RotationVector = geometry.d3.transformation.rotation.RotationVector +@pytest.fixture +def rotation_vector() -> RotationVector: + return RotationVector.unit() -def test_geometry_d3_transformation_rotation_rotation_vector(): - rv: RotationVector = RotationVector( - numpy.array([[0.0], [0.0], [1.0]], dtype=float), Angle.zero() - ) - assert (rv == rv) is True - assert (rv != rv) is False +class TestRotationVector: + def test_constructor_success(self): + RotationVector( + axis=(0.0, 0.0, 1.0), + angle=Angle.zero(), + ) - assert rv.is_defined() is True + RotationVector( + vector=(0.0, 0.0, 1.0), + angle_unit=Angle.Unit.Degree, + ) - # assert numpy.array_equal(rv.get_axis(), numpy.array([[0.0], [0.0], [1.0]], dtype=float)) - assert rv.get_angle() == Angle.zero() + def test_operators_success(self, rotation_vector: RotationVector): + assert (rotation_vector == rotation_vector) is True + assert (rotation_vector != rotation_vector) is False - assert RotationVector.undefined().is_defined() is False - assert RotationVector.unit().is_defined() is True - assert ( - RotationVector.quaternion( - Quaternion(0.0, 0.0, 0.0, 1.0, Quaternion.Format.XYZS) - ).is_defined() - is True - ) - # assert RotationVector.RotationMatrix().is_defined() is True + def test_get_angle_success(self, rotation_vector: RotationVector): + assert rotation_vector.get_angle() == Angle.zero() + + def test_is_defined_success(self, rotation_vector: RotationVector): + assert rotation_vector.is_defined() is True + + def test_is_defined_success(self, rotation_vector: RotationVector): + rotation_vector.rectify() + + def test_quaternion_success(self, rotation_vector: RotationVector): + assert RotationVector.quaternion(Quaternion.unit()) == rotation_vector + + def test_euler_angle_success(self, rotation_vector: RotationVector): + assert RotationVector.euler_angle(EulerAngle.unit()) == rotation_vector diff --git a/bindings/python/test/solver/test_numerical_solver.py b/bindings/python/test/solver/test_numerical_solver.py index 5dc1869f..982886ef 100644 --- a/bindings/python/test/solver/test_numerical_solver.py +++ b/bindings/python/test/solver/test_numerical_solver.py @@ -59,7 +59,7 @@ def numerical_solver_conditional() -> NumericalSolver: class TestNumericalSolver: - def test_constructors(self, numerical_solver: NumericalSolver): + def test_constructor_success(self, numerical_solver: NumericalSolver): assert numerical_solver is not None assert isinstance(numerical_solver, NumericalSolver) assert numerical_solver.is_defined() diff --git a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp index 5e8ae201..5bbed39c 100644 --- a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp +++ b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp @@ -3,6 +3,13 @@ #ifndef __OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle__ #define __OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle__ +#include +#include +#include + +#include +#include + namespace ostk { namespace mathematics @@ -16,7 +23,351 @@ namespace transformation namespace rotation { -} +using ostk::core::type::Integer; +using ostk::core::type::Real; +using ostk::core::type::String; + +using ostk::mathematics::geometry::Angle; +using ostk::mathematics::object::Vector3d; +using ostk::mathematics::object::Vector4d; + +class RotationMatrix; +class Quaternion; +class RotationVector; + +/// @brief Euler Angle (intrinsic rotation) +/// +/// Implementation from "Fundamentals of Spacecraft Attitude Determination and Control", +/// F. Landis Markley and John L. Crassidis, Springer +/// +/// @ref https://en.wikipedia.org/wiki/Euler_angles +/// @ref https://en.wikipedia.org/wiki/Euler_angles#Conventions_by_intrinsic_rotations + +class EulerAngle +{ + public: + enum class AxisSequence + { + + Undefined, ///< Undefined sequence + XYZ, ///< X -> Y -> Z sequence + ZXY, ///< Z -> X -> Y sequence + ZYX ///< Z -> Y -> X sequence + + }; + + /// @brief Construct Euler Angle from angles and axis sequence + /// + /// @code + /// EulerAngle( + /// Angle::Degrees(1.0), + /// Angle::Degrees(2.0), + /// Angle::Degrees(3.0), + /// EulerAngle::AxisSequence::ZYX + /// ); + /// @endcode + /// + /// @param [in] aFirstAngle A first angle (phi) + /// @param [in] aSecondAngle A second angle (theta) + /// @param [in] aThirdAngle A third angle (psi) + /// @param [in] anAxisSequence An axis sequence + + EulerAngle( + const Angle& aFirstAngle, + const Angle& aSecondAngle, + const Angle& aThirdAngle, + const EulerAngle::AxisSequence& anAxisSequence + ); + + /// @brief Construct Euler Angle from vector of angles and axis sequence + /// + /// @code + /// EulerAngle( + /// {1.0, 0.0, 0.0}, + /// Angle::Unit::Degree, + /// EulerAngle::AxisSequence::ZYX + /// ); + /// @endcode + /// + /// @param [in] aVector A vector of angles + /// @param [in] anAngleUnit An angle unit + /// @param [in] anAxisSequence An axis sequence + + EulerAngle(const Vector3d& aVector, const Angle::Unit& anAngleUnit, const EulerAngle::AxisSequence& anAxisSequence); + + /// @brief Equal to operator + /// + /// @code + /// EulerAngle::Unit() == EulerAngle::Unit(); + /// @endcode + /// + /// @param [in] aEulerAngle A Euler Angle + /// @return True if Euler Angles are equal + + bool operator==(const EulerAngle& aEulerAngle) const; + + /// @brief Not equal to operator + /// + /// @code + /// EulerAngle::Unit() != EulerAngle::Unit(); + /// @endcode + /// + /// @param [in] aEulerAngle A Euler Angle + /// @return True if Euler Angles are not equal + + bool operator!=(const EulerAngle& aEulerAngle) const; + + /// @brief Output stream operator + /// + /// @code + /// std::cout << EulerAngle::Unit(); + /// @endcode + /// + /// @param [in] anOutputStream An output stream + /// @param [in] aEulerAngle A Euler Angle + /// @return Output stream reference + + friend std::ostream& operator<<(std::ostream& anOutputStream, const EulerAngle& aEulerAngle); + + /// @brief Check if Euler Angle is defined + /// + /// @code + /// EulerAngle::Unit().isDefined(); + /// @endcode + /// + /// @return True if Euler Angle is defined + + bool isDefined() const; + + /// @brief Check if Euler Angle is unitary + /// + /// @code + /// EulerAngle::Unit().isUnitary(); + /// @endcode + /// + /// @return True if Euler Angle is unitary + + bool isUnitary() const; + + /// @brief Check if Euler Angle is equal to another Euler Angle + /// within a given angular tolerance + /// + /// @code + /// EulerAngle::Unit().isNear( + /// EulerAngle::Unit(), + /// Angle::Degrees(1e-6) + /// ); + /// @endcode + /// + /// @param [in] aEulerAngle A Euler Angle + /// @param [in] anAngularTolerance An angular tolerance + /// @return True if equal within given angular tolerance + + bool isNear(const EulerAngle& aEulerAngle, const Angle& anAngularTolerance) const; + + /// @brief Get first angle of rotation (phi) + /// + /// @code + /// EulerAngle::Unit().getPhi(); + /// @endcode + /// + /// @return First angle of rotation + + Angle getPhi() const; + + /// @brief Get second angle of rotation (theta) + /// + /// @code + /// EulerAngle::Unit().getTheta(); + /// @endcode + /// + /// @return Second angle of rotation + + Angle getTheta() const; + + /// @brief Get third angle of rotation (psi) + /// + /// @code + /// EulerAngle::Unit().getPsi(); + /// @endcode + /// + /// @return Third angle of rotation + + Angle getPsi() const; + + /// @brief Get axis sequence + /// + /// @code + /// EulerAngle::Unit().getAxisSequence(); + /// @endcode + /// + /// @return Axis sequence (e.g, ZYX) + + AxisSequence getAxisSequence() const; + + /// @brief Return vector containing the three angles + /// + /// @code + /// EulerAngle::Unit().toVector(Angle::Unit::Degree); + /// @endcode + /// + /// @param [in] anAngleUnit An angle unit + /// @return Vector containing the three angles + + Vector3d toVector(const Angle::Unit& anAngleUnit) const; + + /// @brief Return string form of Euler Angle [phi; theta; psi] + /// + /// @code + /// EulerAngle::Unit().toString(Angle::Unit::Degree); + /// @endcode + /// + /// @param [in] (optional) anAngleUnit An angle unit + /// @return String from of Euler Angle + + String toString(const Angle::Unit& anAngleUnit = Angle::Unit::Degree) const; + + /// @brief Construct undefined Euler Angle + /// + /// @code + /// EulerAngle::Undefined(); + /// @endcode + /// + /// @return Undefined Euler Angle + + static EulerAngle Undefined(); + + /// @brief Construct unitary Euler Angle + /// + /// @code + /// EulerAngle::Unit(); + /// @endcode + /// + /// @return Unitary Euler Angle + + static EulerAngle Unit(); + + /// @brief Construct Euler Angle from angles following XYZ sequence + /// + /// @code + /// EulerAngle::XYZ( + /// Angle::Degrees(1.0), + /// Angle::Degrees(2.0), + /// Angle::Degrees(3.0) + /// ); + /// @endcode + /// + /// @param [in] aFirstAngle A first angle (phi) + /// @param [in] aSecondAngle A second angle (theta) + /// @param [in] aThirdAngle A third angle (psi) + /// @return Euler Angle + + static EulerAngle XYZ(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle); + + /// @brief Construct Euler Angle from angles following ZXY sequence + /// + /// @code + /// EulerAngle::ZXY( + /// Angle::Degrees(1.0), + /// Angle::Degrees(2.0), + /// Angle::Degrees(3.0) + /// ); + /// @endcode + /// + /// @param [in] aFirstAngle A first angle (phi) + /// @param [in] aSecondAngle A second angle (theta) + /// @param [in] aThirdAngle A third angle (psi) + /// @return Euler Angle + + static EulerAngle ZXY(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle); + + /// @brief Construct Euler Angle from angles following ZYX sequence + /// + /// @code + /// EulerAngle::ZYX( + /// Angle::Degrees(1.0), + /// Angle::Degrees(2.0), + /// Angle::Degrees(3.0) + /// ); + /// @endcode + /// + /// @param [in] aFirstAngle A first angle (phi) + /// @param [in] aSecondAngle A second angle (theta) + /// @param [in] aThirdAngle A third angle (psi) + /// @return Euler Angle + + static EulerAngle ZYX(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle); + + /// @brief Construct Euler Angle from Rotation Matrix + /// + /// @code + /// EulerAngle::RotationMatrix( + /// RotationMatrix::Unit(), + /// EulerAngle::AxisSequence::ZYX + /// ); + /// @endcode + /// + /// @param [in] aRotationMatrix A Rotation Matrix + /// @param [in] anAxisSequence An axis sequence + /// @return Euler Angle + + static EulerAngle Quaternion( + const rotation::Quaternion& aQuaternion, const EulerAngle::AxisSequence& anAxisSequence + ); + + /// @brief Construct Euler Angle from Quaternion + /// + /// @code + /// EulerAngle::Quaternion( + /// Quaternion::Unit(), + /// EulerAngle::AxisSequence::ZYX + /// ); + /// @endcode + /// + /// @param [in] aQuaternion A Quaternion + /// @param [in] anAxisSequence An axis sequence + /// @return Euler Angle + + static EulerAngle RotationVector( + const rotation::RotationVector& aRotationVector, const EulerAngle::AxisSequence& anAxisSequence + ); + + /// @brief Construct Euler Angle from Rotation Vector + /// + /// @code + /// EulerAngle::RotationVector( + /// RotationVector::Unit(), + /// EulerAngle::AxisSequence::ZYX + /// ); + /// @endcode + /// + /// @param [in] aRotationVector A Rotation Vector + /// @param [in] anAxisSequence An axis sequence + /// @return Euler Angle + + static EulerAngle RotationMatrix( + const rotation::RotationMatrix& aRotationMatrix, const EulerAngle::AxisSequence& anAxisSequence + ); + + /// @brief Construct a string representation of an axis sequence + /// + /// @code + /// EulerAngle::StringFromAxisSequence(EulerAngle::AxisSequence::ZYX); + /// @endcode + /// + /// @param [in] anAxisSequence An axis sequence + /// @return String representation of axis sequence + + static String StringFromAxisSequence(const EulerAngle::AxisSequence& anAxisSequence); + + private: + Angle phi_; + Angle theta_; + Angle psi_; + + EulerAngle::AxisSequence axisSequence_; +}; +} // namespace rotation } // namespace transformation } // namespace d3 } // namespace geometry diff --git a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.hpp b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.hpp index c7de9d8e..30c28fde 100644 --- a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.hpp +++ b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.hpp @@ -33,6 +33,7 @@ using ostk::mathematics::geometry::Angle; class RotationVector; class RotationMatrix; +class EulerAngle; /// @brief Quaternion /// @@ -47,7 +48,7 @@ class RotationMatrix; class Quaternion { public: - /// @brief Quaternion format + /// @brief Quaternion format enum class Format { @@ -57,17 +58,17 @@ class Quaternion }; - /// @brief Constructor + /// @brief Constructor /// /// @code - /// Quaternion quaternion = { 0.0, 0.0, 0.0, 0.1, Quaternion::Format::XYZS } ; + /// Quaternion(0.0, 0.0, 0.0, 0.1, Quaternion::Format::XYZS) ; /// @endcode /// - /// @param [in] aFirstComponent A first component - /// @param [in] aSecondComponent A second component - /// @param [in] aThirdComponent A third component - /// @param [in] aFourthComponent A fourth component - /// @param [in] aFormat A quaternion format + /// @param [in] aFirstComponent A first component + /// @param [in] aSecondComponent A second component + /// @param [in] aThirdComponent A third component + /// @param [in] aFourthComponent A fourth component + /// @param [in] aFormat A Quaternion format Quaternion( const Real& aFirstComponent, @@ -77,430 +78,426 @@ class Quaternion const Quaternion::Format& aFormat ); - /// @brief Constructor + /// @brief Constructor /// /// @code - /// Quaternion quaternion = { Vector4d(0.0, 0.0, 0.0, 0.1), Quaternion::Format::XYZS } ; + /// Quaternion({0.0, 0.0, 0.0, 0.1}, Quaternion::Format::XYZS) ; /// @endcode /// - /// @param [in] aVector A 4D vector - /// @param [in] aFormat A quaternion format + /// @param [in] aVector A 4D vector + /// @param [in] aFormat A Quaternion format Quaternion(const Vector4d& aVector, const Quaternion::Format& aFormat); - /// @brief Constructor + /// @brief Constructor /// /// @code - /// Quaternion quaternion = { Vector3d(0.0, 0.0, 0.0), 1.0 } ; + /// Quaternion({0.0, 0.0, 0.0}, 1.0); /// @endcode /// - /// @param [in] aVectorPart A vector part - /// @param [in] aVectorPart A scalar part + /// @param [in] aVectorPart A vector part + /// @param [in] aVectorPart A scalar part Quaternion(const Vector3d& aVectorPart, const Real& aScalarPart); - /// @brief Equal to operator + /// @brief Equal to operator /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) == Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ; // True + /// Quaternion::Unit() == Quaternion::Unit() /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return True if quaternions are equal + /// @param [in] aQuaternion A Quaternion + /// @return True if Quaternions are equal bool operator==(const Quaternion& aQuaternion) const; - /// @brief Not equal to operator + /// @brief Not equal to operator /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) != Quaternion::XYZS(1.0, 0.0, 0.0, 0.0) ; // True + /// Quaternion::Unit() != Quaternion::Unit(); /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return True if quaternions are not equal + /// @param [in] aQuaternion A Quaternion + /// @return True if Quaternions are not equal bool operator!=(const Quaternion& aQuaternion) const; - /// @brief Addition operator (quaternion) + /// @brief Addition operator /// /// @code - /// Quaternion q_1 = ... ; - /// Quaternion q_2 = ... ; - /// Quaternion q_3 = q_1 + q_2 ; - /// @encode + /// Quaternion q_1 = ... ; + /// Quaternion q_2 = ... ; + /// Quaternion q_3 = q_1 + q_2 ; + /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion Quaternion operator+(const Quaternion& aQuaternion) const; - /// @brief Multiplication operator (quaternion) + /// @brief Multiplication operator (Quaternion) /// /// @code - /// Quaternion q_B_A = ... ; - /// Quaternion q_C_B = ... ; - /// Quaternion q_C_A = q_C_B * q_B_A ; - /// @encode + /// Quaternion q_B_A = ... ; + /// Quaternion q_C_B = ... ; + /// Quaternion q_C_A = q_C_B * q_B_A ; + /// @endcode /// - /// @note This operator uses cross multiplication + /// @note This operator uses cross multiplication /// - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion Quaternion operator*(const Quaternion& aQuaternion) const; - /// @brief Multiplication operator (vector) + /// @brief Multiplication operator (vector) /// - /// Example: /// @code - /// Quaternion q_B_A = ... ; - /// Vector3d v_A = ... ; - /// Vector3d v_B = q_B_A * v_A ; + /// Quaternion q_B_A = ... ; + /// Vector3d v_A = ... ; + /// Vector3d v_B = q_B_A * v_A ; /// @endcode /// - /// @note This operator uses transformVector + /// @note This operator uses transformVector /// - /// @param [in] aVector A vector - /// @return Vector + /// @param [in] aVector A vector + /// @return Vector Vector3d operator*(const Vector3d& aVector) const; - /// @brief Multiplication operator (scalar) + /// @brief Multiplication operator (scalar) /// - /// Example: /// @code - /// Quaternion q_1 = ... ; - /// Real scalar = ... ; - /// Quaternion q_2 = q_1 * scalar ; + /// Quaternion q_1 = ... ; + /// Real scalar = ... ; + /// Quaternion q_2 = q_1 * scalar ; /// @endcode /// - /// @param [in] aScalar A scalar - /// @return Quaternion + /// @param [in] aScalar A scalar + /// @return Quaternion Quaternion operator*(const Real& aScalar) const; - /// @brief Multiplication operator (scalar) + /// @brief Multiplication operator (scalar) /// - /// Example: /// @code - /// Real scalar = ... ; - /// Quaternion q_1 = ... ; - /// Quaternion q_2 = scalar * q_1 ; + /// Real scalar = ... ; + /// Quaternion q_1 = ... ; + /// Quaternion q_2 = scalar * q_1 ; /// @endcode /// - /// @param [in] aScalar A scalar - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aScalar A scalar + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion friend Quaternion operator*(const Real& aScalar, const Quaternion& aQuaternion); - /// @brief Division operator (quaternion) + /// @brief Division operator (Quaternion) /// /// @code - /// Quaternion q_A_B = ... ; - /// Quaternion q_C_B = ... ; - /// Quaternion q_C_A = q_C_B / q_A_B ; + /// Quaternion q_A_B = ... ; + /// Quaternion q_C_B = ... ; + /// Quaternion q_C_A = q_C_B / q_A_B ; /// @endcode /// - /// @note This is equivalent to multiplying with the inverse + /// @note This is equivalent to multiplying with the inverse /// - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion Quaternion operator/(const Quaternion& aQuaternion) const; - /// @brief Power operator (quaternion) + /// @brief Power operator (Quaternion) /// /// @code - /// Quaternion q_1 = ... ; - /// Real scalar = ... ; - /// Quaternion q_2 = q_1 ^ scalar ; + /// Quaternion q_1 = ... ; + /// Real scalar = ... ; + /// Quaternion q_2 = q_1 ^ scalar ; /// @endcode /// - /// @param [in] aScalar A scalar - /// @return Quaternion + /// @param [in] aScalar A scalar + /// @return Quaternion Quaternion operator^(const Real& aScalar) const; - /// @brief Addition assignment operator (quaternion) + /// @brief Addition assignment operator (Quaternion) /// - /// @param [in] aQuaternion A quaternion - /// @return Reference to quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion reference Quaternion& operator+=(const Quaternion& aQuaternion); - /// @brief Multiplication assignment operator (quaternion) + /// @brief Multiplication assignment operator (Quaternion) /// - /// @note This operator uses cross multiplication + /// @note This operator uses cross multiplication /// - /// @param [in] aQuaternion A quaternion - /// @return Reference to quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion reference Quaternion& operator*=(const Quaternion& aQuaternion); - /// @brief Division assignment operator (quaternion) + /// @brief Division assignment operator (Quaternion) /// - /// @note This is equivalent to multiplying with the inverse + /// @note This is equivalent to multiplying with the inverse /// - /// @param [in] aQuaternion A quaternion - /// @return Reference to quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion reference Quaternion& operator/=(const Quaternion& aQuaternion); - /// @brief Output stream operator + /// @brief Output stream operator /// /// @code - /// std::cout << Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ; + /// std::cout << Quaternion::XYZS(0.0, 0.0, 0.0, 1.0); /// @endcode /// - /// @param [in] anOutputStream An output stream - /// @param [in] aQuaternion A quaternion - /// @return A reference to output stream + /// @param [in] anOutputStream An output stream + /// @param [in] aQuaternion A Quaternion + /// @return Output stream reference friend std::ostream& operator<<(std::ostream& anOutputStream, const Quaternion& aQuaternion); - /// @brief Check if quaternion is defined + /// @brief Check if Quaternion is defined /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).isDefined() ; // True + /// Quaternion::Unit().isDefined(); /// @endcode /// - /// @return True if quaternion is defined + /// @return True if Quaternion is defined bool isDefined() const; - /// @brief Check if quaternion is unitary, i.e. its norm is equal to 1.0 + /// @brief Check if Quaternion is unitary (i.e., its norm is equal to 1.0) /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).isUnitary() ; // True + /// Quaternion::Unit().isUnitary(); /// @endcode /// - /// @return True if quaternion is unitary + /// @return True if Quaternion is unitary bool isUnitary() const; - /// @brief Check if quaternion is near a given quaternion + /// @brief Check if Quaternion is near another Quaternion /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).isNear(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0 + 1e-19), - /// Angle::Radians(1e-6)) ; // True + /// Quaternion::Unit().isNear( + /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0 + 1e-19), + /// Angle::Radians(1e-6) + /// ); /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @param [in] anAngularTolerance An angular tolerance - /// @return True if quaternions are near each other + /// @param [in] aQuaternion A Quaternion + /// @param [in] anAngularTolerance An angular tolerance + /// @return True if Quaternions are near each other bool isNear(const Quaternion& aQuaternion, const Angle& anAngularTolerance) const; - /// @brief Get first component of vector part + /// @brief Get first component of vector part /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).x() ; // &0.0 + /// Quaternion::Unit().x(); /// @endcode /// - /// @return First component of vector part + /// @return Real Real x() const; - /// @brief Get second component of vector part + /// @brief Get second component of vector part /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).y() ; // &0.0 + /// Quaternion::Unit().y(); /// @endcode /// - /// @return Second component of vector part + /// @return Real Real y() const; - /// @brief Get third component of vector part + /// @brief Get third component of vector part /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).z() ; // &0.0 + /// Quaternion::Unit().z(); /// @endcode /// - /// @return Third component of vector part + /// @return Real Real z() const; - /// @bref Get scalar part + /// @bref Get scalar part /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).s() ; // &1.0 + /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).s(); /// @endcode /// - /// @return Scalar part + /// @return Real Real s() const; - /// @brief Get vector part + /// @brief Get vector part /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).getVectorPart() ; // [0.0, 0.0, 0.0] + /// Quaternion::Unit().getVectorPart(); /// @endcode /// - /// @return Vector part + /// @return Vector Vector3d getVectorPart() const; - /// @brief Get scalar part + /// @brief Get scalar part /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).getScalarPart() ; // 1.0 + /// Quaternion::Unit().getScalarPart(); /// @endcode /// - /// @return Scalar part + /// @return Real Real getScalarPart() const; - /// @brief Get normalized quaternion + /// @brief Calculate normalized Quaternion /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001).toNormalized() ; // [0.0, 0.0, 0.0, 1.0] - /// @encode + /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001).toNormalized(); + /// @endcode /// - /// @return Normalized quaternion + /// @return Quaternion Quaternion toNormalized() const; - /// @brief Get conjugate quaternion + /// @brief Calculate conjugate of Quaternion /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toConjugate() ; // [0.0, 0.0, - /// -0.70710678118, 0.70710678118] - /// @encode + /// Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toConjugate(); + /// @endcode /// - /// @return Conjugate quaternion + /// @return Quaternion Quaternion toConjugate() const; - /// @brief Get inverse quaternion + /// @brief Calculate inverse of Quaternion /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toInverse() ; // [0.0, 0.0, - /// -0.70710678118, 0.70710678118] - /// @encode + /// Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).toInverse(); + /// @endcode /// - /// @return Inverse quaternion + /// @return Quaternion Quaternion toInverse() const; - /// @brief Get exponential + /// @brief Calculate exponential of Quaternion /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = q_1.exp() ; + /// Quaternion q_1 = ... + /// Quaternion q_2 = q_1.exp(); /// @endcode /// - /// @return Exponential + /// @return Quaternion Quaternion exp() const; - /// @brief Get logarithm + /// @brief Calculate logarithm of Quaternion /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = q_1.log() ; + /// Quaternion q_1 = ... + /// Quaternion q_2 = q_1.log(); /// @endcode /// - /// @return Logarithm + /// @return Quaternion Quaternion log() const; - /// @brief Get power + /// @brief Calculate power of Quaternion /// /// @code - /// Quaternion q_1 = ... - /// Real scalar = ... - /// Quaternion q_2 = q_1 ^ scalar ; + /// Quaternion q_1 = ... + /// Real scalar = ... + /// Quaternion q_2 = q_1 ^ scalar ; /// @endcode /// - /// @param [in] aValue A power value - /// @return Power + /// @param [in] aValue A power value + /// @return Quaternion Quaternion pow(const Real& aValue) const; - /// @brief Get quaternion norm + /// @brief Calculate norm of Quaternion /// /// @code - /// Quaternion::XYZS(0.0, 0.0, -0.70710678118, 0.70710678118).norm() ; // 1.0 - /// @encode + /// Quaternion::XYZS(0.0, 0.0, -0.70710678118, 0.70710678118).norm(); + /// @endcode /// - /// @return Quaternion norm + /// @return Quaternion norm Real norm() const; - /// @brief Multiply quaternion using cross multiplication + /// @brief Multiply Quaternion using cross multiplication /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = ... - /// Quaternion q_3 = q_1.crossMultiply(q_2) + /// Quaternion q_1 = ... + /// Quaternion q_2 = ... + /// Quaternion q_3 = q_1.crossMultiply(q_2) /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion Quaternion crossMultiply(const Quaternion& aQuaternion) const; - /// @brief Multiply quaternion using dot multiplication + /// @brief Multiply Quaternion using dot multiplication /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = ... - /// Quaternion q_3 = q_1.dotMultiply(q_2) + /// Quaternion q_1 = ... + /// Quaternion q_2 = ... + /// Quaternion q_3 = q_1.dotMultiply(q_2) /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion Quaternion dotMultiply(const Quaternion& aQuaternion) const; - /// @brief Calculate quaternion dot product + /// @brief Calculate Quaternion dot product /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = ... - /// Real q_3 = q_1.dotProduct(q_2) + /// Quaternion q_1 = ... + /// Quaternion q_2 = ... + /// Real q_3 = q_1.dotProduct(q_2) /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Quaternion + /// @param [in] aQuaternion A Quaternion + /// @return Quaternion Real dotProduct(const Quaternion& aQuaternion) const; - /// @brief Rotate vector using quaternion + /// @brief Rotate vector using Quaternion /// /// @code - /// Quaternion q = ... - /// Vector3d v_1 = ... - /// Vector3d v_2 = q.rotateVector(v_1) + /// Vector3d v_1 = ... + /// Vector3d v_2 = q.rotateVector(v_1); /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Vector + /// @param [in] aQuaternion A Quaternion + /// @return Vector Vector3d rotateVector(const Vector3d& aVector) const; - /// @brief Convert quaternion to its vector representation + /// @brief Convert Quaternion to its vector representation /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toVector() ; // [0.0, 0.0, 0.0, 1.0] + /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toVector(); /// @endcode /// - /// @param [in] (optional) aFormat A quaternion format - /// @return Vector representation + /// @param [in] (optional) aFormat A Quaternion format + /// @return Vector representation Vector4d toVector(const Quaternion::Format& aFormat = Quaternion::Format::XYZS) const; - /// @brief Convert quaternion to its string representation + /// @brief Convert Quaternion to its string representation /// /// @code - /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toString() ; // "[0.0, 0.0, 0.0, 1.0]" + /// Quaternion::XYSZ(0.0, 0.0, 0.0, 1.0).toString(); /// @endcode /// - /// @param [in] (optional) aPrecision A quaternion precision - /// @param [in] (optional) aFormat A quaternion format - /// @return String representation + /// @param [in] (optional) aPrecision A Quaternion precision + /// @param [in] (optional) aFormat A Quaternion format + /// @return String representation String toString(const Quaternion::Format& aFormat) const; @@ -508,96 +505,88 @@ class Quaternion const Integer& aPrecision = Integer::Undefined(), const Quaternion::Format& aFormat = Quaternion::Format::XYZS ) const; - /// @brief Normalize quaternion + /// @brief Normalize Quaternion /// /// @code - /// Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001) ; // [0.0, 0.0, - /// 0.0, 1.000000000000001] quaternion.normalize() ; // [0.0, 0.0, 0.0, 1.0] + /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.000000000000001).normalize(); /// @endcode /// - /// @return Reference to quaternion + /// @return Quaternion reference Quaternion& normalize(); - /// @brief Conjugate quaternion + /// @brief Conjugate Quaternion /// /// @code - /// Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118) ; // [0.0, - /// 0.0, 0.70710678118, 0.70710678118] quaternion.conjugate() ; // [0.0, 0.0, -0.70710678118, - /// 0.70710678118] + /// Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).conjugate(); /// @endcode /// - /// @return Reference to quaternion + /// @return Quaternion reference Quaternion& conjugate(); - /// @brief Inverse quaternion + /// @brief Inverse Quaternion /// /// @code - /// Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118) ; // [0.0, - /// 0.0, 0.70710678118, 0.70710678118] quaternion.inverse() ; // [0.0, 0.0, -0.70710678118, - /// 0.70710678118] + /// Quaternion::XYZS(0.0, 0.0, 0.70710678118, 0.70710678118).inverse(); /// @endcode /// - /// @return Reference to quaternion + /// @return Quaternion reference Quaternion& inverse(); - /// @brief Rectify quaternion (enforce positive scalar part) + /// @brief Rectify Quaternion (enforce positive scalar part) /// /// @code - /// Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, -0.70710678118, -0.70710678118) ; // - /// [0.0, 0.0, -0.70710678118, -0.70710678118] quaternion.rectify() ; // [0.0, 0.0, - /// 0.70710678118, 0.70710678118] + /// Quaternion::XYZS(0.0, 0.0, -0.70710678118, -0.70710678118).rectify(); /// @endcode /// - /// @return Reference to quaternion + /// @return Quaternion reference Quaternion& rectify(); - /// @brief Get angular difference with quaternion + /// @brief Compute angular difference with Quaternion /// /// @code - /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).angularDifferenceWith(Quaternion::XYZS(0.0, 0.0, - /// 0.0, 1.0)) ; // 0.0 [rad] + /// Quaternion::Unit().angularDifferenceWith(Quaternion::Unit()); /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Angular difference + /// @param [in] aQuaternion A Quaternion + /// @return Angular difference Angle angularDifferenceWith(const Quaternion& aQuaternion) const; - /// @brief Constructs an undefined quaternion + /// @brief Construct undefined Quaternion /// /// @code - /// Quaternion quaternion = Quaternion::Undefined() ; // Undefined + /// Quaternion::Undefined(); /// @endcode /// - /// @return Undefined quaternion + /// @return Quaternion static Quaternion Undefined(); - /// @brief Constructs a unit quaternion + /// @brief Construct unitary Quaternion /// /// @code - /// Quaternion quaternion = Quaternion::Unit() ; // [0.0, 0.0, 0.0, 1.0] + /// Quaternion::Unit(); /// @endcode /// - /// @return Unit quaternion + /// @return Quaternion static Quaternion Unit(); - /// @brief Constructs a quaternion using the vector-scalar format + /// @brief Construct Quaternion using the vector-scalar format /// /// @code - /// Quaternion quaternion = Quaternion::XYZS(0.0, 0.0, 0.0, 1.0) ; // [0.0, 0.0, 0.0, 1.0] + /// Quaternion::XYZS(0.0, 0.0, 0.0, 1.0); /// @endcode /// - /// @param [in] aFirstComponent A first component - /// @param [in] aSecondComponent A second component - /// @param [in] aThirdComponent A third component - /// @param [in] aFourthComponent A fourth component - /// @return Quaternion + /// @param [in] aFirstComponent A first component + /// @param [in] aSecondComponent A second component + /// @param [in] aThirdComponent A third component + /// @param [in] aFourthComponent A fourth component + /// @return Quaternion static Quaternion XYZS( const Real& aFirstComponent, @@ -606,101 +595,109 @@ class Quaternion const Real& aFourthComponent ); - /// @brief Constructs a quaternion from a rotation vector + /// @brief Construct Quaternion from rotation vector /// /// @code - /// Quaternion quaternion = Quaternion::RotationVector(RotationVector(Vector3d(0.0, 0.0, 1.0), - /// Angle::Degrees(0.0))) ; // [0.0, 0.0, 0.0, 1.0] + /// Quaternion::RotationVector(RotationVector::Unit()); /// @endcode /// - /// @param [in] aRotationVector A rotation vector - /// @return Quaternion + /// @param [in] aRotationVector A Rotation Vector + /// @return Quaternion static Quaternion RotationVector(const rotation::RotationVector& aRotationVector); - /// @brief Constructs a rquaternion from a rotation matrix + /// @brief Construct Quaternion from Rotation Matrix /// /// @code - /// Quaternion quaternion = Quaternion::RotationMatrix(RotationMatrix::Unit()) ; + /// Quaternion::RotationMatrix(RotationMatrix::Unit()); /// @endcode /// - /// @param [in] aRotationMatrix A rotation matrix - /// @return Quaternion + /// @param [in] aRotationMatrix A Rotation Matrix + /// @return Quaternion static Quaternion RotationMatrix(const rotation::RotationMatrix& aRotationMatrix); - /// @brief Constructs a quaternion from a string + /// @brief Construct Quaternion from Euler Angle + /// + /// @code + /// Quaternion::EulerAngle(EulerAngle::Unit()); + /// @endcode + /// + /// @param [in] EulerAngle A Euler Angle + /// @return Quaternion + + static Quaternion EulerAngle(const rotation::EulerAngle& aEulerAngle); + + /// @brief Construct Quaternion from string /// /// @code - /// Quaternion quaternion = Quaternion::Parse("[0.0, 0.0, 0.0, 1.0]") ; // [0.0, 0.0, 0.0, 1.0] + /// Quaternion::Parse("[0.0, 0.0, 0.0, 1.0]"); /// @endcode /// - /// @param [in] aString A string - /// @param [in] (optional) aFormat A quaternion format - /// @return Quaternion + /// @param [in] aString A string + /// @param [in] (optional) aFormat A Quaternion format + /// @return Quaternion static Quaternion Parse(const String& aString, const Quaternion::Format& aFormat = Quaternion::Format::XYZS); - /// @brief Constructs a quaternion describing the shortest rotation between two vectors + /// @brief Construct Quaternion describing the shortest rotation between two vectors /// /// @code - /// Vector3d v_1 = ... - /// Vector3d v_2 = ... - /// Quaternion q = Quaternion.ShortestRotation(v_1, v_2) + /// Quaternion::ShortestRotation({1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}); /// @endcode /// - /// @param [in] aFirstVector A first vector - /// @param [in] aSecondVector A second vector - /// @return Quaternion + /// @param [in] aFirstVector A first vector + /// @param [in] aSecondVector A second vector + /// @return Quaternion static Quaternion ShortestRotation(const Vector3d& aFirstVector, const Vector3d& aSecondVector); - /// @brief Linear interpolator method + /// @brief Linear interpolator method /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = ... - /// Quaternion q = Quaternion.LERP(q_1, q_2, 0.5) + /// Quaternion q_1 = ... + /// Quaternion q_2 = ... + /// Quaternion::LERP(q_1, q_2, 0.5); /// @endcode /// - /// @param [in] aFirstQuaternion A first quaternion - /// @param [in] aSecondQuaternion A second quaternion - /// @param [in] aRatio An interpolator ratio - /// @return Quaternion + /// @param [in] aFirstQuaternion A first Quaternion + /// @param [in] aSecondQuaternion A second Quaternion + /// @param [in] aRatio An interpolator ratio + /// @return Quaternion static Quaternion LERP(const Quaternion& aFirstQuaternion, const Quaternion& aSecondQuaternion, const Real& aRatio); - /// @brief Normalized linear interpolator method + /// @brief Normalized linear interpolator method /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = ... - /// Quaternion q = Quaternion.NLERP(q_1, q_2, 0.5) + /// Quaternion q_1 = ... + /// Quaternion q_2 = ... + /// Quaternion::NLERP(q_1, q_2, 0.5); /// @endcode /// - /// @param [in] aFirstQuaternion A first quaternion - /// @param [in] aSecondQuaternion A second quaternion - /// @param [in] aRatio An interpolator ratio - /// @return Quaternion + /// @param [in] aFirstQuaternion A first Quaternion + /// @param [in] aSecondQuaternion A second Quaternion + /// @param [in] aRatio An interpolator ratio + /// @return Quaternion static Quaternion NLERP( const Quaternion& aFirstQuaternion, const Quaternion& aSecondQuaternion, const Real& aRatio ); - /// Spherical linear interpolator method + /// Spherical linear interpolator method /// - /// @ref https://en.wikipedia.org/wiki/Slerp + /// @ref https://en.wikipedia.org/wiki/Slerp /// /// @code - /// Quaternion q_1 = ... - /// Quaternion q_2 = ... - /// Quaternion q = Quaternion.SLERP(q_1, q_2, 0.5) + /// Quaternion q_1 = ... + /// Quaternion q_2 = ... + /// Quaternion::SLERP(q_1, q_2, 0.5); /// @endcode /// - /// @param [in] aFirstQuaternion A first quaternion - /// @param [in] aSecondQuaternion A second quaternion - /// @param [in] aRatio An interpolator ratio - /// @return Quaternion + /// @param [in] aFirstQuaternion A first Quaternion + /// @param [in] aSecondQuaternion A second Quaternion + /// @param [in] aRatio An interpolator ratio + /// @return Quaternion static Quaternion SLERP( const Quaternion& aFirstQuaternion, const Quaternion& aSecondQuaternion, const Real& aRatio diff --git a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.hpp b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.hpp index 84976476..8fd4ef72 100644 --- a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.hpp +++ b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.hpp @@ -31,6 +31,7 @@ using ostk::mathematics::geometry::Angle; class Quaternion; class RotationVector; +class EulerAngle; /// @brief Rotation matrix /// @@ -39,23 +40,23 @@ class RotationVector; class RotationMatrix { public: - /// @brief Constructor + /// @brief Constructor /// - /// @param [in] aMatrix A matrix + /// @param [in] aMatrix A matrix RotationMatrix(const Matrix3d& aMatrix); - /// @brief Constructor + /// @brief Constructor /// - /// @param [in] aFirstCoefficient A first coefficient - /// @param [in] aSecondCoefficient A second coefficient - /// @param [in] aThirdCoefficient A third coefficient - /// @param [in] aFourthCoefficient A fourth coefficient - /// @param [in] aFifthCoefficient A fifth coefficient - /// @param [in] aSixthCoefficient A sixth coefficient - /// @param [in] aSeventhCoefficient A seventh coefficient - /// @param [in] aEighthCoefficient A eighth coefficient - /// @param [in] aNinthCoefficient A ninth coefficient + /// @param [in] aFirstCoefficient A first coefficient + /// @param [in] aSecondCoefficient A second coefficient + /// @param [in] aThirdCoefficient A third coefficient + /// @param [in] aFourthCoefficient A fourth coefficient + /// @param [in] aFifthCoefficient A fifth coefficient + /// @param [in] aSixthCoefficient A sixth coefficient + /// @param [in] aSeventhCoefficient A seventh coefficient + /// @param [in] aEighthCoefficient A eighth coefficient + /// @param [in] aNinthCoefficient A ninth coefficient RotationMatrix( const Real& aFirstCoefficient, @@ -69,253 +70,262 @@ class RotationMatrix const Real& aNinthCoefficient ); - /// @brief Equal to operator + /// @brief Equal to operator /// /// @code - /// RotationMatrix(...) == RotationMatrix(...) ; + /// RotationMatrix(...) == RotationMatrix(...); /// @endcode /// - /// @param [in] aRotationMatrix A rotation matrix - /// @return True if rotation matrices are equal + /// @param [in] aRotationMatrix A Rotation Matrix + /// @return True if rotation matrices are equal bool operator==(const RotationMatrix& aRotationMatrix) const; - /// @brief Not equal to operator + /// @brief Not equal to operator /// /// @code - /// RotationMatrix(...) != RotationMatrix(...) ; + /// RotationMatrix(...) != RotationMatrix(...); /// @endcode /// - /// @param [in] aRotationMatrix A rotation matrix - /// @return True if rotation matrices are not equal + /// @param [in] aRotationMatrix A Rotation Matrix + /// @return True if rotation matrices are not equal bool operator!=(const RotationMatrix& aRotationMatrix) const; - /// @brief Matrix multiplication operator + /// @brief Matrix multiplication operator /// /// @code - /// RotationMatrix rotationMatrix_A_B = ... ; - /// RotationMatrix rotationMatrix_B_C = ... ; - /// RotationMatrix rotationMatrix_A_C = rotationMatrix_A_B * rotationMatrix_B_C ; + /// RotationMatrix rotationMatrix_A_B = ... ; + /// RotationMatrix rotationMatrix_B_C = ... ; + /// RotationMatrix rotationMatrix_A_C = rotationMatrix_A_B * rotationMatrix_B_C ; /// @endcode /// - /// @param [in] aRotationMatrix A rotation matrix - /// @return Rotation matrix + /// @param [in] aRotationMatrix A Rotation Matrix + /// @return Rotation matrix RotationMatrix operator*(const RotationMatrix& aRotationMatrix) const; - /// @brief Vector multiplication operator + /// @brief Vector multiplication operator /// /// @code - /// RotationMatrix rotationMatrix_B_A = ... ; - /// Vector3d vector_A = ... ; - /// Vector3d vector_B = rotationMatrix_B_A * vector_A ; + /// RotationMatrix rotationMatrix_B_A = ... ; + /// Vector3d vector_A = ... ; + /// Vector3d vector_B = rotationMatrix_B_A * vector_A ; /// @endcode /// - /// @param [in] aVector A vector - /// @return Vector + /// @param [in] aVector A vector + /// @return Vector Vector3d operator*(const Vector3d& aVector) const; - /// @brief Index function operator + /// @brief Index function operator /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Unit() ; - /// double value_00 = rotationMatrix(0, 0) ; // 1.0 + /// RotationMatrix::Unit(); + /// double value_00 = rotationMatrix(0, 0); // 1.0 /// @endcode /// - /// @param [in] aRowIndex A row index - /// @param [in] aColumnIndex A column index - /// @return Value at index + /// @param [in] aRowIndex A row index + /// @param [in] aColumnIndex A column index + /// @return Value at index double operator()(const Index& aRowIndex, const Index& aColumnIndex) const; - /// @brief Index function operator + /// @brief Index function operator /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Unit() ; - /// rotationMatrix(0, 0) = 0.0 ; + /// RotationMatrix::Unit(); + /// rotationMatrix(0, 0) = 0.0 ; /// @endcode /// - /// @param [in] aRowIndex A row index - /// @param [in] aColumnIndex A column index - /// @return Reference of value at index + /// @param [in] aRowIndex A row index + /// @param [in] aColumnIndex A column index + /// @return Reference of value at index double& operator()(const Index& aRowIndex, const Index& aColumnIndex); - /// @brief Output stream operator + /// @brief Output stream operator /// /// @code - /// std::cout << RotationMatrix(...) ; + /// std::cout << RotationMatrix(...); /// @endcode /// - /// @param [in] anOutputStream An output stream - /// @param [in] aRotationMatrix A rotation matrix - /// @return A reference to output stream + /// @param [in] anOutputStream An output stream + /// @param [in] aRotationMatrix A Rotation Matrix + /// @return Output stream reference friend std::ostream& operator<<(std::ostream& anOutputStream, const RotationMatrix& aRotationMatrix); - /// @brief Check if rotation matrix is defined + /// @brief Check if Rotation Matrix is defined /// /// @code - /// RotationMatrix(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).isDefined() ; // True + /// RotationMatrix(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).isDefined(); /// @endcode /// - /// @return True if rotation matrix is defined + /// @return True if Rotation Matrix is defined bool isDefined() const; - /// @brief Access underlying rotation matrix + /// @brief Access underlying 3D Matrix /// - /// @return Reference to underlying rotation matrix + /// @return Matrix reference const Matrix3d& accessMatrix() const; - /// @brief Get row at index + /// @brief Get row at index /// - /// @param [in] aRowIndex Index of row - /// @return Row at index + /// @param [in] aRowIndex Index of row + /// @return Vector Vector3d getRowAt(const Index& aRowIndex) const; - /// @brief Get column at index + /// @brief Get column at index /// - /// @param [in] aColumnIndex Index of column - /// @return Column at index + /// @param [in] aColumnIndex Index of column + /// @return Vector Vector3d getColumnAt(const Index& aColumnIndex) const; - /// @brief Get underlying rotation matrix + /// @brief Get underlying 3D Matrix /// - /// @return Underlying rotation matrix + /// @return Matrix Matrix3d getMatrix() const; - /// @brief Get transposed rotation matrix + /// @brief Calculate transposed Rotation Matrix /// /// @code - /// RotationMatrix(...).toTransposed() ; + /// RotationMatrix(...).toTransposed(); /// @endcode /// - /// @return Transposed rotation matrix + /// @return Rotation Matrix RotationMatrix toTransposed() const; - /// @brief Transpose rotation matrix + /// @brief Transpose Rotation Matrix /// /// @code - /// RotationMatrix(...).transpose() ; + /// RotationMatrix(...).transpose(); /// @endcode + /// + /// @return Rotation Matrix reference RotationMatrix& transpose(); - /// @brief Constructs an undefined rotation matrix + /// @brief Construct an undefined Rotation Matrix /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Undefined() ; // Undefined + /// RotationMatrix::Undefined(); /// @endcode /// - /// @return Undefined rotation matrix + /// @return Rotation Matrix static RotationMatrix Undefined(); - /// @brief Constructs a unit rotation matrix + /// @brief Construct unitary Rotation Matrix /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Unit() ; + /// RotationMatrix::Unit(); /// @endcode /// - /// @return Unit rotation matrix + /// @return Rotation Matrix static RotationMatrix Unit(); - /// @brief Constructs a rotation matrix representing a rotation around the X-axis + /// @brief Construct Rotation Matrix representing a rotation around the X-axis /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::RX(Angle::Degrees(30.0)) ; + /// RotationMatrix::RX(Angle::Degrees(30.0)); /// @endcode /// - /// @param [in] aRotationAngle A rotation angle - /// @return Rotation matrix + /// @param [in] aRotationAngle A rotation angle + /// @return Rotation matrix static RotationMatrix RX(const Angle& aRotationAngle); - /// @brief Constructs a rotation matrix representing a rotation around the Y-axis + /// @brief Construct Rotation Matrix representing a rotation around the Y-axis /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::RY(Angle::Degrees(30.0)) ; + /// RotationMatrix::RY(Angle::Degrees(30.0)); /// @endcode /// - /// @param [in] aRotationAngle A rotation angle - /// @return Rotation matrix + /// @param [in] aRotationAngle A rotation angle + /// @return Rotation matrix static RotationMatrix RY(const Angle& aRotationAngle); - /// @brief Constructs a rotation matrix representing a rotation around the Z-axis + /// @brief Construct Rotation Matrix representing a rotation around the Z-axis /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::RZ(Angle::Degrees(30.0)) ; + /// RotationMatrix::RZ(Angle::Degrees(30.0)); /// @endcode /// - /// @param [in] aRotationAngle A rotation angle - /// @return Rotation matrix + /// @param [in] aRotationAngle A rotation angle + /// @return Rotation matrix static RotationMatrix RZ(const Angle& aRotationAngle); - /// @brief Constructs a rotation matrix from row vectors + /// @brief Construct Rotation Matrix from row vectors /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Rows(Vector3d(1.0, 0.0, 0.0), Vector3d(1.0, - /// 0.0, 0.0), Vector3d(1.0, 0.0, 0.0)) ; + /// RotationMatrix::Rows({1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}); /// @endcode /// - /// @param [in] aFirstRow A first row - /// @param [in] aSecondRow A second row - /// @param [in] aThirdRow A third row - /// @return Rotation matrix + /// @param [in] aFirstRow A first row + /// @param [in] aSecondRow A second row + /// @param [in] aThirdRow A third row + /// @return Rotation matrix static RotationMatrix Rows(const Vector3d& aFirstRow, const Vector3d& aSecondRow, const Vector3d& aThirdRow); - /// @brief Constructs a rotation matrix from column vectors + /// @brief Construct Rotation Matrix from column vectors /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Columns(Vector3d(1.0, 0.0, 0.0), - /// Vector3d(1.0, 0.0, 0.0), Vector3d(1.0, 0.0, 0.0)) ; + /// RotationMatrix::Columns({1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}); /// @endcode /// - /// @param [in] aFirstColumn A first column - /// @param [in] aSecondColumn A second column - /// @param [in] aThirdColumn A third column - /// @return Rotation matrix + /// @param [in] aFirstColumn A first column + /// @param [in] aSecondColumn A second column + /// @param [in] aThirdColumn A third column + /// @return Rotation matrix static RotationMatrix Columns( const Vector3d& aFirstColumn, const Vector3d& aSecondColumn, const Vector3d& aThirdColumn ); - /// @brief Constructs a rotation matrix from a quaternion + /// @brief Construct Rotation Matrix from Quaternion /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::Quaternion(Quaternion::XYZS(0.0, 0.0, - /// 0.0, 1.0)) ; + /// RotationMatrix::Quaternion(Quaternion::Unit()); /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Rotation matrix + /// @param [in] aQuaternion A Quaternion + /// @return Rotation matrix static RotationMatrix Quaternion(const rotation::Quaternion& aQuaternion); - /// @brief Constructs a rotation matrix from a rotation vector + /// @brief Construct Rotation Matrix from Rotation Vector /// /// @code - /// RotationMatrix rotationMatrix = RotationMatrix::RotationVector(Vector3d(0.0, 0.0, 1.0), - /// Angle::Degrees(90.0)) ; + /// RotationMatrix::RotationVector(RotationVector::Unit()); /// @endcode /// - /// @param [in] aRotationVector A rotation vector - /// @return Rotation matrix + /// @param [in] aRotationVector A Rotation Vector + /// @return Rotation matrix static RotationMatrix RotationVector(const rotation::RotationVector& aRotationVector); + /// @brief Construct Rotation Matrix from Euler Angle + /// + /// @code + /// RotationMatrix::EulerAngle(EulerAngle::Unit()); + /// @endcode + /// + /// @param [in] aEulerAngle A Euler Angle + /// @return Rotation matrix + + static RotationMatrix EulerAngle(const rotation::EulerAngle& aEulerAngle); + private: Matrix3d matrix_; diff --git a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.hpp b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.hpp index ee0e3714..e347bc77 100644 --- a/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.hpp +++ b/include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.hpp @@ -30,167 +30,209 @@ using ostk::mathematics::geometry::Angle; class Quaternion; class RotationMatrix; +class EulerAngle; -/// @brief Rotation vector +/// @brief Rotation Vector /// /// @ref https://en.wikipedia.org/wiki/Axis–angle_representation#Rotation_vector class RotationVector { public: - /// @brief Constructor + /// @brief Constructor /// - /// @param [in] anAxis A rotation axis - /// @param [in] anAngle A rotation angle + /// @code + /// RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(45.0)); + /// @endcode + /// + /// @param [in] anAxis A rotation axis + /// @param [in] anAngle A rotation angle RotationVector(const Vector3d& anAxis, const Angle& anAngle); - /// @brief Equal to operator + /// @brief Construct Rotation Vector from vector and angle unit + /// The norm of the vector defines the rotation angle. + /// + /// @code + /// RotationVector({1.0, 0.0, 0.0}, Angle::Unit::Radian); + /// @endcode + /// + /// @param [in] aVector A vector + /// @param [in] anAngleUnit An angle unit + + RotationVector(const Vector3d& anAxis, const Angle::Unit& anAngleUnit); + + /// @brief Equal to operator /// /// @code - /// RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) == - /// RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) ; // True + /// RotationVector::Unit() == RotationVector::Unit(); /// @endcode /// - /// @param [in] aRotationVector A rotation vector - /// @return True if rotation vectors are equal + /// @param [in] aRotationVector A Rotation Vector + /// @return True if Rotation Vectors are equal bool operator==(const RotationVector& aRotationVector) const; - /// @brief Not equal to operator + /// @brief Not equal to operator /// /// @code - /// RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) != - /// RotationVector(Vector3d(1.0, 0.0, 0.0), Angle::Degrees(90.0)) ; // True + /// RotationVector::Unit() != RotationVector::Unit(); /// @endcode /// - /// @param [in] aRotationVector A rotation vector - /// @return True if rotation vectors are not equal + /// @param [in] aRotationVector A Rotation Vector + /// @return True if Rotation Vectors are not equal bool operator!=(const RotationVector& aRotationVector) const; - /// @brief Output stream operator + /// @brief Output stream operator /// /// @code - /// std::cout << RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)) ; + /// std::cout << RotationVector::Unit(); /// @endcode /// - /// @param [in] anOutputStream An output stream - /// @param [in] aRotationVector A rotation vector - /// @return A reference to output stream + /// @param [in] anOutputStream An output stream + /// @param [in] aRotationVector A Rotation Vector + /// @return Reference to output stream friend std::ostream& operator<<(std::ostream& anOutputStream, const RotationVector& aRotationVector); - /// @brief Check if rotation vector is defined + /// @brief Check if Rotation Vector is defined /// /// @code - /// RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).isDefined() ; // True + /// RotationVector::Unit().isDefined(); /// @endcode /// - /// @return True if rotation vector is defined + /// @return True if Rotation Vector is defined bool isDefined() const; - /// @brief Get rotation axis + /// @brief Get rotation axis /// - /// @return Rotation axis + /// @code + /// RotationVector::Unit().getAxis(); + /// @endcode + /// + /// @return Rotation axis Vector3d getAxis() const; - /// @brief Get rotation angle + /// @brief Get rotation angle /// - /// @return Rotation angle + /// @code + /// RotationVector::Unit().getAngle(); + /// @endcode + /// + /// @return Rotation angle Angle getAngle() const; - /// @brief Convert rotation vector to its string representation + /// @brief Convert Rotation Vector to string representation /// /// @code - /// RotationVector(Vector3d(0.0, 0.0, 1.0), Angle::Degrees(90.0)).toString() ; // "[0.0, - /// 0.0, 1.0] : 90.0 [deg]" + /// RotationVector::Unit().toString(); /// @endcode /// - /// @param [in] (optional) aPrecision A precision - /// @return String representation + /// @param [in] (optional) aPrecision A precision + /// @return String representation String toString(const Integer& aPrecision = Integer::Undefined()) const; - /// @brief Constructs an undefined rotation vector + /// @brief Rectify Rotation Vector (enforce positive angle) + /// + /// @code + /// RotationVector::Unit().rectify(); + /// @endcode + /// + /// @return Rotation Vector reference + + RotationVector& rectify(); + + /// @brief Construct an undefined Rotation Vector /// /// @code - /// RotationVector rotationVector = RotationVector::Undefined() ; // Undefined + /// RotationVector::Undefined(); /// @endcode /// - /// @return Undefined rotation vector + /// @return Undefined Rotation Vector static RotationVector Undefined(); - /// @brief Constructs a unit rotation vector + /// @brief Construct a unitary Rotation Vector /// /// @code - /// RotationVector rotationVector = RotationVector::Unit() ; + /// RotationVector::Unit(); /// @endcode /// - /// @return Unit rotation vector + /// @return Unitary Rotation Vector static RotationVector Unit(); - /// @brief Constructs a rotation vector around X-axis + /// @brief Construct Rotation Vector around X-axis /// /// @code - /// RotationVector rotationVector = RotationVector::X(Angle::Degrees(45.0)) ; + /// RotationVector::X(Angle::Degrees(45.0)); /// @endcode /// - /// @param [in] anAngle A rotation angle - /// @return Rotation vector + /// @param [in] anAngle A rotation angle + /// @return Rotation Vector static RotationVector X(const Angle& anAngle); - /// @brief Constructs a rotation vector around Y-axis + /// @brief Construct Rotation Vector around Y-axis /// /// @code - /// RotationVector rotationVector = RotationVector::X(Angle::Degrees(45.0)) ; + /// RotationVector::X(Angle::Degrees(45.0)); /// @endcode /// - /// @param [in] anAngle A rotation angle - /// @return Rotation vector + /// @param [in] anAngle A rotation angle + /// @return Rotation Vector static RotationVector Y(const Angle& anAngle); - /// @brief Constructs a rotation vector around Z-axis + /// @brief Construct Rotation Vector around Z-axis /// /// @code - /// RotationVector rotationVector = RotationVector::X(Angle::Degrees(45.0)) ; + /// RotationVector::X(Angle::Degrees(45.0)); /// @endcode /// - /// @param [in] anAngle A rotation angle - /// @return Rotation vector + /// @param [in] anAngle A rotation angle + /// @return Rotation Vector static RotationVector Z(const Angle& anAngle); - /// @brief Constructs a rotation vector from a quaternion + /// @brief Construct Rotation Vector from Quaternion /// /// @code - /// RotationVector rotationVector = RotationVector::Quaternion(Quaternion::XYZS(0.0, 0.0, - /// 0.0, 1.0)) ; + /// RotationVector::Quaternion(Quaternion::Unit()); /// @endcode /// - /// @param [in] aQuaternion A quaternion - /// @return Rotation vector + /// @param [in] aQuaternion A quaternion + /// @return Rotation Vector static RotationVector Quaternion(const rotation::Quaternion& aQuaternion); - /// @brief Constructs a rotation vector from a rotation matrix + /// @brief Construct Rotation Vector from Rotation Matrix /// /// @code - /// RotationVector rotationVector = RotationVector::RotationMatrix(RotationMatrix::Unit()) ; + /// RotationVector::RotationMatrix(RotationMatrix::Unit()); /// @endcode /// - /// @param [in] aRotationMatrix A rotation matrix - /// @return Rotation vector + /// @param [in] aRotationMatrix A Rotation Matrix + /// @return Rotation Vector static RotationVector RotationMatrix(const rotation::RotationMatrix& aRotationMatrix); + /// @brief Construct Rotation Vector from Euler Angle + /// + /// @code + /// RotationVector::EulerAngle(EulerAngle::Unit()); + /// @endcode + /// + /// @param [in] aEulerAngle A Euler Angle + /// @return Rotation Vector + + static RotationVector EulerAngle(const rotation::EulerAngle& aEulerAngle); + private: Vector3d axis_; Angle angle_; diff --git a/include/OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp b/include/OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp index 2b144a1f..535cf902 100644 --- a/include/OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp +++ b/include/OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp @@ -88,6 +88,31 @@ class Angle bool isZero() const; + /// @brief Check if angle is negative + /// + /// @code + /// Angle::Zero().isNegative(); + /// @endcode + /// + /// @return True if angle is negative + + bool isNegative() const; + + /// @brief Check if angles are near within an angular tolerance + /// + /// @code + /// Angle::Zero().isNear( + /// Angle::Degrees(1.0), + /// Angle::Degrees(2.0) + /// ); + /// @endcode + /// + /// @param [in] anAngle An angle + /// @param [in] aTolerance A tolerance + /// @return True if angles are near + + bool isNear(const Angle& anAngle, const Angle& aTolerance) const; + Angle::Unit getUnit() const; Real in(const Angle::Unit& aUnit) const; diff --git a/include/OpenSpaceToolkit/Mathematics/Solver/NumericalSolver.hpp b/include/OpenSpaceToolkit/Mathematics/Solver/NumericalSolver.hpp index 118db88d..c7272cb8 100644 --- a/include/OpenSpaceToolkit/Mathematics/Solver/NumericalSolver.hpp +++ b/include/OpenSpaceToolkit/Mathematics/Solver/NumericalSolver.hpp @@ -101,7 +101,7 @@ class NumericalSolver /// /// @param [in] anOutputStream An output stream /// @param [in] aNumericalSolver A numerical solver - /// @return A reference to output stream + /// @return Output stream reference friend std::ostream& operator<<(std::ostream& anOutputStream, const NumericalSolver& aNumericalSolver); diff --git a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Cuboid.cpp b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Cuboid.cpp index 4a4032bd..156dd171 100644 --- a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Cuboid.cpp +++ b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Cuboid.cpp @@ -84,7 +84,8 @@ bool Cuboid::operator==(const Cuboid& aCuboid) const return true; // (0 == 0) && (1 == 1) && (2 == 2) } } - else if (((axes_[1] == aCuboid.axes_[2]) || (axes_[1] == -aCuboid.axes_[2])) && (extent_[1] == aCuboid.extent_[2])) + else if (((axes_[1] == aCuboid.axes_[2]) || (axes_[1] == -aCuboid.axes_[2])) && + (extent_[1] == aCuboid.extent_[2])) { if (((axes_[2] == aCuboid.axes_[1]) || (axes_[2] == -aCuboid.axes_[1])) && (extent_[2] == aCuboid.extent_[1])) @@ -93,7 +94,8 @@ bool Cuboid::operator==(const Cuboid& aCuboid) const } } } - else if (((axes_[0] == aCuboid.axes_[1]) || (axes_[0] == -aCuboid.axes_[1])) && (extent_[0] == aCuboid.extent_[1])) + else if (((axes_[0] == aCuboid.axes_[1]) || (axes_[0] == -aCuboid.axes_[1])) && + (extent_[0] == aCuboid.extent_[1])) { if (((axes_[1] == aCuboid.axes_[0]) || (axes_[1] == -aCuboid.axes_[0])) && (extent_[1] == aCuboid.extent_[0])) @@ -104,7 +106,8 @@ bool Cuboid::operator==(const Cuboid& aCuboid) const return true; // (0 == 1) && (1 == 0) && (2 == 2) } } - else if (((axes_[1] == aCuboid.axes_[2]) || (axes_[1] == -aCuboid.axes_[2])) && (extent_[1] == aCuboid.extent_[2])) + else if (((axes_[1] == aCuboid.axes_[2]) || (axes_[1] == -aCuboid.axes_[2])) && + (extent_[1] == aCuboid.extent_[2])) { if (((axes_[2] == aCuboid.axes_[0]) || (axes_[2] == -aCuboid.axes_[0])) && (extent_[2] == aCuboid.extent_[0])) @@ -113,7 +116,8 @@ bool Cuboid::operator==(const Cuboid& aCuboid) const } } } - else if (((axes_[0] == aCuboid.axes_[2]) || (axes_[0] == -aCuboid.axes_[2])) && (extent_[0] == aCuboid.extent_[2])) + else if (((axes_[0] == aCuboid.axes_[2]) || (axes_[0] == -aCuboid.axes_[2])) && + (extent_[0] == aCuboid.extent_[2])) { if (((axes_[1] == aCuboid.axes_[0]) || (axes_[1] == -aCuboid.axes_[0])) && (extent_[1] == aCuboid.extent_[0])) @@ -124,7 +128,8 @@ bool Cuboid::operator==(const Cuboid& aCuboid) const return true; // (0 == 2) && (1 == 0) && (2 == 1) } } - else if (((axes_[1] == aCuboid.axes_[1]) || (axes_[1] == -aCuboid.axes_[1])) && (extent_[1] == aCuboid.extent_[1])) + else if (((axes_[1] == aCuboid.axes_[1]) || (axes_[1] == -aCuboid.axes_[1])) && + (extent_[1] == aCuboid.extent_[1])) { if (((axes_[2] == aCuboid.axes_[0]) || (axes_[2] == -aCuboid.axes_[0])) && (extent_[2] == aCuboid.extent_[0])) diff --git a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.cpp b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.cpp new file mode 100644 index 00000000..fa8f132b --- /dev/null +++ b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.cpp @@ -0,0 +1,339 @@ +/// Apache License 2.0 + +#include +#include + +#include +#include +#include +#include + +namespace ostk +{ +namespace mathematics +{ +namespace geometry +{ +namespace d3 +{ +namespace transformation +{ +namespace rotation +{ + +EulerAngle::EulerAngle( + const Angle& aFirstAngle, + const Angle& aSecondAngle, + const Angle& aThirdAngle, + const EulerAngle::AxisSequence& anAxisSequence +) + : phi_(aFirstAngle), + theta_(aSecondAngle), + psi_(aThirdAngle), + axisSequence_(anAxisSequence) +{ +} + +EulerAngle::EulerAngle( + const Vector3d& aVector, const Angle::Unit& anAngleUnit, const EulerAngle::AxisSequence& anAxisSequence +) + : phi_(Angle(aVector(0), anAngleUnit)), + theta_(Angle(aVector(1), anAngleUnit)), + psi_(Angle(aVector(2), anAngleUnit)), + axisSequence_(anAxisSequence) +{ +} + +bool EulerAngle::operator==(const EulerAngle& aEulerAngle) const +{ + if ((!this->isDefined()) || (!aEulerAngle.isDefined())) + { + return false; + } + + if (axisSequence_ != aEulerAngle.axisSequence_) + { + return false; + } + + if ((phi_ == aEulerAngle.phi_) && (theta_ == aEulerAngle.theta_) && (psi_ == aEulerAngle.psi_)) + { + return true; + } + + // https://math.stackexchange.com/a/55552 + if ((phi_ + Angle::Pi() == aEulerAngle.phi_) && (Angle::Pi() - theta_ == aEulerAngle.theta_) && + (psi_ + Angle::Pi() == aEulerAngle.psi_)) + { + return true; + } + + return false; +} + +bool EulerAngle::operator!=(const EulerAngle& aEulerAngle) const +{ + return !((*this) == aEulerAngle); +} + +std::ostream& operator<<(std::ostream& anOutputStream, const EulerAngle& aEulerAngle) +{ + ostk::core::utils::Print::Header(anOutputStream, "Euler Angle"); + + ostk::core::utils::Print::Line(anOutputStream) + << "Phi:" << (aEulerAngle.isDefined() ? String::Format("{}", aEulerAngle.phi_.toString()) : "Undefined"); + ostk::core::utils::Print::Line(anOutputStream) + << "Theta:" << (aEulerAngle.isDefined() ? String::Format("{}", aEulerAngle.theta_.toString()) : "Undefined"); + ostk::core::utils::Print::Line(anOutputStream) + << "Psi:" << (aEulerAngle.isDefined() ? String::Format("{}", aEulerAngle.psi_.toString()) : "Undefined"); + ostk::core::utils::Print::Line(anOutputStream + ) << "Axis sequence:" + << (aEulerAngle.isDefined() ? String::Format("{}", EulerAngle::StringFromAxisSequence(aEulerAngle.axisSequence_)) + : "Undefined"); + + ostk::core::utils::Print::Footer(anOutputStream); + + return anOutputStream; +} + +bool EulerAngle::isDefined() const +{ + return phi_.isDefined() && theta_.isDefined() && psi_.isDefined() && + axisSequence_ != EulerAngle::AxisSequence::Undefined; +} + +bool EulerAngle::isUnitary() const +{ + return phi_.isZero() && theta_.isZero() && psi_.isZero(); +} + +bool EulerAngle::isNear(const EulerAngle& aEulerAngle, const Angle& anAngularTolerance) const +{ + return Quaternion::EulerAngle(*this).isNear(Quaternion::EulerAngle(aEulerAngle), anAngularTolerance); +} + +Angle EulerAngle::getPhi() const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + return phi_; +} + +Angle EulerAngle::getTheta() const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + return theta_; +} + +Angle EulerAngle::getPsi() const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + return psi_; +} + +EulerAngle::AxisSequence EulerAngle::getAxisSequence() const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + return axisSequence_; +} + +Vector3d EulerAngle::toVector(const Angle::Unit& anAngleUnit) const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + return {phi_.in(anAngleUnit), theta_.in(anAngleUnit), psi_.in(anAngleUnit)}; +} + +String EulerAngle::toString(const Angle::Unit& anAngleUnit) const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + return String::Format( + "[{}, {}, {}] ({})", + phi_.in(anAngleUnit), + theta_.in(anAngleUnit), + psi_.in(anAngleUnit), + EulerAngle::StringFromAxisSequence(axisSequence_) + ); +} + +EulerAngle EulerAngle::Undefined() +{ + return {Angle::Undefined(), Angle::Undefined(), Angle::Undefined(), EulerAngle::AxisSequence::Undefined}; +} + +EulerAngle EulerAngle::Unit() +{ + return {Angle::Zero(), Angle::Zero(), Angle::Zero(), EulerAngle::AxisSequence::ZYX}; +} + +EulerAngle EulerAngle::XYZ(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle) +{ + return {aFirstAngle, aSecondAngle, aThirdAngle, EulerAngle::AxisSequence::XYZ}; +} + +EulerAngle EulerAngle::ZXY(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle) +{ + return {aFirstAngle, aSecondAngle, aThirdAngle, EulerAngle::AxisSequence::ZXY}; +} + +EulerAngle EulerAngle::ZYX(const Angle& aFirstAngle, const Angle& aSecondAngle, const Angle& aThirdAngle) +{ + return {aFirstAngle, aSecondAngle, aThirdAngle, EulerAngle::AxisSequence::ZYX}; +} + +EulerAngle EulerAngle::Quaternion( + const rotation::Quaternion& aQuaternion, const EulerAngle::AxisSequence& anAxisSequence +) +{ + if (!aQuaternion.isDefined()) + { + throw ostk::core::error::runtime::Undefined("Quaternion"); + } + + if (!aQuaternion.isUnitary()) + { + throw ostk::core::error::RuntimeError("Quaternion is not unitary."); + } + + const Real q_x = aQuaternion.x(); + const Real q_y = aQuaternion.y(); + const Real q_z = aQuaternion.z(); + const Real q_s = aQuaternion.s(); + + Real phi = Real::Undefined(); + Real theta = Real::Undefined(); + Real psi = Real::Undefined(); + + switch (anAxisSequence) + { + case EulerAngle::AxisSequence::ZYX: // 3-2-1 + { + phi = std::atan2(2.0 * (q_x * q_y + q_s * q_z), q_s * q_s - q_z * q_z - q_y * q_y + q_x * q_x); + theta = std::asin(-2.0 * (q_x * q_z - q_y * q_s)); + psi = std::atan2(2.0 * (q_y * q_z + q_x * q_s), q_s * q_s + q_z * q_z - q_y * q_y - q_x * q_x); + break; + } + + default: + // TBI: This is an inefficient fallback. + return EulerAngle::RotationMatrix(RotationMatrix::Quaternion(aQuaternion), anAxisSequence); + } + + // https://math.stackexchange.com/a/55552 + if (phi < 0.0) + { + phi = phi + M_PI; + theta = M_PI - theta; + psi = psi + M_PI; + } + + return EulerAngle::ZYX(Angle::Radians(phi), Angle::Radians(theta), Angle::Radians(psi)); +} + +EulerAngle EulerAngle::RotationVector( + const rotation::RotationVector& aRotationVector, const EulerAngle::AxisSequence& anAxisSequence +) +{ + return EulerAngle::Quaternion(Quaternion::RotationVector(aRotationVector), anAxisSequence); +} + +EulerAngle EulerAngle::RotationMatrix( + const rotation::RotationMatrix& aRotationMatrix, const EulerAngle::AxisSequence& anAxisSequence +) +{ + if (!aRotationMatrix.isDefined()) + { + throw ostk::core::error::runtime::Undefined("Rotation Matrix"); + } + + Real phi = Real::Undefined(); + Real theta = Real::Undefined(); + Real psi = Real::Undefined(); + + switch (anAxisSequence) + { + case EulerAngle::AxisSequence::XYZ: // 1-2-3 + { + phi = std::atan2(-aRotationMatrix(2, 1), aRotationMatrix(2, 2)); + theta = std::asin(aRotationMatrix(2, 0)); + psi = std::atan2(-aRotationMatrix(1, 0), aRotationMatrix(0, 0)); + break; + } + + case EulerAngle::AxisSequence::ZXY: // 3-1-2 + { + phi = std::atan2(-aRotationMatrix(1, 0), aRotationMatrix(1, 1)); + theta = std::asin(aRotationMatrix(1, 2)); + psi = std::atan2(-aRotationMatrix(0, 2), aRotationMatrix(2, 2)); + break; + } + + case EulerAngle::AxisSequence::ZYX: // 3-2-1 + { + phi = std::atan2(aRotationMatrix(0, 1), aRotationMatrix(0, 0)); + theta = std::asin(-aRotationMatrix(0, 2)); + psi = std::atan2(aRotationMatrix(1, 2), aRotationMatrix(2, 2)); + break; + } + + default: + throw ostk::core::error::runtime::ToBeImplemented("Axis sequence is not supported."); + } + + // https://math.stackexchange.com/a/55552 + if (phi < 0.0) + { + phi = phi + M_PI; + theta = M_PI - theta; + psi = psi + M_PI; + } + + return EulerAngle::ZYX(Angle::Radians(phi), Angle::Radians(theta), Angle::Radians(psi)); +} + +String EulerAngle::StringFromAxisSequence(const EulerAngle::AxisSequence& anAxisSequence) +{ + switch (anAxisSequence) + { + case EulerAngle::AxisSequence::XYZ: + return "XYZ"; + + case EulerAngle::AxisSequence::ZXY: + return "ZXY"; + + case EulerAngle::AxisSequence::ZYX: + return "ZYX"; + + default: + throw ostk::core::error::runtime::Wrong("Axis sequence"); + } +} + +} // namespace rotation +} // namespace transformation +} // namespace d3 +} // namespace geometry +} // namespace mathematics +} // namespace ostk diff --git a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.cpp b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.cpp index bae2652d..fafd4ba4 100644 --- a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.cpp +++ b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include #include @@ -540,21 +541,24 @@ Quaternion Quaternion::RotationMatrix(const rotation::RotationMatrix& aRotationM z = rotationMatrix_12 - rotationMatrix_21; s = 1.0 + trace; } - else if ((rotationMatrix_11 >= trace) && (rotationMatrix_11 >= rotationMatrix_22) && (rotationMatrix_11 >= rotationMatrix_33)) + else if ((rotationMatrix_11 >= trace) && (rotationMatrix_11 >= rotationMatrix_22) && + (rotationMatrix_11 >= rotationMatrix_33)) { x = 1.0 + 2.0 * rotationMatrix_11 - trace; y = rotationMatrix_12 + rotationMatrix_21; z = rotationMatrix_13 + rotationMatrix_31; s = rotationMatrix_23 - rotationMatrix_32; } - else if ((rotationMatrix_22 >= rotationMatrix_11) && (rotationMatrix_22 >= trace) && (rotationMatrix_22 >= rotationMatrix_33)) + else if ((rotationMatrix_22 >= rotationMatrix_11) && (rotationMatrix_22 >= trace) && + (rotationMatrix_22 >= rotationMatrix_33)) { x = rotationMatrix_21 + rotationMatrix_12; y = 1.0 + 2.0 * rotationMatrix_22 - trace; z = rotationMatrix_23 + rotationMatrix_32; s = rotationMatrix_31 - rotationMatrix_13; } - else if ((rotationMatrix_33 >= rotationMatrix_11) && (rotationMatrix_33 >= rotationMatrix_22) && (rotationMatrix_33 >= trace)) + else if ((rotationMatrix_33 >= rotationMatrix_11) && (rotationMatrix_33 >= rotationMatrix_22) && + (rotationMatrix_33 >= trace)) { x = rotationMatrix_31 + rotationMatrix_13; y = rotationMatrix_32 + rotationMatrix_23; @@ -569,6 +573,66 @@ Quaternion Quaternion::RotationMatrix(const rotation::RotationMatrix& aRotationM return Quaternion::XYZS(x, y, z, s).normalize(); } +Quaternion Quaternion::EulerAngle(const rotation::EulerAngle& aEulerAngle) +{ + // Fundamentals of Spacecraft Attitude Determination and Control + // F. Landis Markley and John L. Crassidis, Springer + // Table B.5, p. 364 + + if (!aEulerAngle.isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler angle"); + } + + const Real phi = aEulerAngle.getPhi().inRadians(); + const Real theta = aEulerAngle.getTheta().inRadians(); + const Real psi = aEulerAngle.getPsi().inRadians(); + + const Real c_phi = std::cos(phi / 2.0); + const Real c_theta = std::cos(theta / 2.0); + const Real c_psi = std::cos(psi / 2.0); + + const Real s_phi = std::sin(phi / 2.0); + const Real s_theta = std::sin(theta / 2.0); + const Real s_psi = std::sin(psi / 2.0); + + switch (aEulerAngle.getAxisSequence()) + { + case EulerAngle::AxisSequence::XYZ: // 1-2-3 + { + const Real x = s_phi * c_theta * c_psi + c_phi * s_theta * s_psi; + const Real y = c_phi * s_theta * c_psi - s_phi * c_theta * s_psi; + const Real z = c_phi * c_theta * s_psi + s_phi * s_theta * c_psi; + const Real s = c_phi * c_theta * c_psi - s_phi * s_theta * s_psi; + + return Quaternion::XYZS(x, y, z, s).toNormalized(); + } + + case EulerAngle::AxisSequence::ZXY: // 3-1-2 + { + const Real x = c_phi * s_theta * c_psi - s_phi * c_theta * s_psi; + const Real y = c_phi * c_theta * s_psi + s_phi * s_theta * c_psi; + const Real z = c_phi * s_theta * s_psi + s_phi * c_theta * c_psi; + const Real s = c_phi * c_theta * c_psi - s_phi * s_theta * s_psi; + + return Quaternion::XYZS(x, y, z, s).toNormalized(); + } + + case EulerAngle::AxisSequence::ZYX: // 3-2-1 + { + const Real x = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi; + const Real y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi; + const Real z = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi; + const Real s = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi; + + return Quaternion::XYZS(x, y, z, s).toNormalized(); + } + + default: + throw ostk::core::error::runtime::ToBeImplemented("Axis sequence is not supported."); + } +} + Quaternion Quaternion::Parse(const String& aString, const Quaternion::Format& aFormat) { using ostk::mathematics::object::VectorXd; diff --git a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp index dc89088e..536f937c 100644 --- a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp +++ b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include #include @@ -275,7 +276,8 @@ RotationMatrix& RotationMatrix::transpose() throw ostk::core::error::runtime::Undefined("Rotation matrix"); } - matrix_ = matrix_.transpose(); + // https://eigen.tuxfamily.org/dox/group__TutorialMatrixArithmetic.html + matrix_.transposeInPlace(); return *this; } @@ -528,6 +530,38 @@ RotationMatrix RotationMatrix::RotationVector(const rotation::RotationVector& aR return RotationMatrix(matrix); } +RotationMatrix RotationMatrix::EulerAngle(const rotation::EulerAngle& aEulerAngle) +{ + if (!aEulerAngle.isDefined()) + { + throw ostk::core::error::runtime::Undefined("Euler Angle"); + } + + switch (aEulerAngle.getAxisSequence()) + { + case EulerAngle::AxisSequence::XYZ: // 1-2-3 + { + return RotationMatrix::RX(aEulerAngle.getPhi()) * RotationMatrix::RY(aEulerAngle.getTheta()) * + RotationMatrix::RZ(aEulerAngle.getPsi()); + } + + case EulerAngle::AxisSequence::ZXY: // 3-1-2 + { + return RotationMatrix::RX(aEulerAngle.getPsi()) * RotationMatrix::RY(aEulerAngle.getPhi()) * + RotationMatrix::RZ(aEulerAngle.getTheta()); + } + + case EulerAngle::AxisSequence::ZYX: // 3-2-1 + { + return RotationMatrix::RX(aEulerAngle.getPsi()) * RotationMatrix::RY(aEulerAngle.getTheta()) * + RotationMatrix::RZ(aEulerAngle.getPhi()); + } + + default: + throw ostk::core::error::runtime::ToBeImplemented("Axis sequence is not supported."); + } +} + RotationMatrix::RotationMatrix() : matrix_(Matrix3d::Undefined()) { diff --git a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.cpp b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.cpp index 18c6e3a0..4e4216dc 100644 --- a/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.cpp +++ b/src/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationVector.cpp @@ -3,6 +3,7 @@ #include #include +#include #include #include #include @@ -30,6 +31,16 @@ RotationVector::RotationVector(const Vector3d& anAxis, const Angle& anAngle) } } +RotationVector::RotationVector(const Vector3d& aVector, const Angle::Unit& anAngleUnit) + : axis_(aVector.isDefined() ? aVector.normalized() : Vector3d::Undefined()), + angle_(Angle(aVector.norm(), anAngleUnit)) +{ + if (axis_ == Vector3d::Zero()) + { + axis_ = Vector3d::Z(); + } +} + bool RotationVector::operator==(const RotationVector& aRotationVector) const { if ((!this->isDefined()) || (!aRotationVector.isDefined())) @@ -90,6 +101,28 @@ Angle RotationVector::getAngle() const return angle_; } +RotationVector& RotationVector::rectify() +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Rotation vector"); + } + + if (angle_.isNegative()) + { + axis_ = -axis_; + angle_ = -angle_; + } + + if (angle_.inRadians() > Angle::Pi().inRadians()) + { + axis_ = -axis_; + angle_ = Angle::TwoPi() - angle_; + } + + return *this; +} + String RotationVector::toString(const Integer& aPrecision) const { if (!this->isDefined()) @@ -189,6 +222,11 @@ RotationVector RotationVector::RotationMatrix(const rotation::RotationMatrix& aR return RotationVector(axis, angle); } +RotationVector RotationVector::EulerAngle(const rotation::EulerAngle& aEulerAngle) +{ + return RotationVector::Quaternion(Quaternion::EulerAngle(aEulerAngle)); +} + RotationVector::RotationVector() : axis_(Vector3d::Undefined()), angle_(Angle::Undefined()) diff --git a/src/OpenSpaceToolkit/Mathematics/Geometry/Angle.cpp b/src/OpenSpaceToolkit/Mathematics/Geometry/Angle.cpp index afd90171..eaf8b523 100644 --- a/src/OpenSpaceToolkit/Mathematics/Geometry/Angle.cpp +++ b/src/OpenSpaceToolkit/Mathematics/Geometry/Angle.cpp @@ -260,6 +260,37 @@ bool Angle::isZero() const return value_ == 0.0; } +bool Angle::isNegative() const +{ + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Angle"); + } + + return value_ < 0.0; +} + +bool Angle::isNear(const Angle& anAngle, const Angle& aTolerance) const +{ + if ((!this->isDefined()) || (!anAngle.isDefined())) + { + throw ostk::core::error::runtime::Undefined("Angle"); + } + + if (!aTolerance.isDefined()) + { + throw ostk::core::error::runtime::Undefined("Tolerance"); + } + + const Real normalizedAngle_1 = Angle::ReduceRange(this->inDegrees(), 0.0, 360.0); + const Real normalizedAngle_2 = Angle::ReduceRange(anAngle.inDegrees(), 0.0, 360.0); + + const Real diff = (normalizedAngle_2 - normalizedAngle_1).abs(); + const Real tolerance = aTolerance.inDegrees().abs(); + + return (diff <= tolerance) || (360.0 - diff <= tolerance); +} + Angle::Unit Angle::getUnit() const { if (!this->isDefined()) diff --git a/test/OpenSpaceToolkit/Mathematics/CurveFitting/Interpolator.test.cpp b/test/OpenSpaceToolkit/Mathematics/CurveFitting/Interpolator.test.cpp index f653512a..ef8e4f63 100644 --- a/test/OpenSpaceToolkit/Mathematics/CurveFitting/Interpolator.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/CurveFitting/Interpolator.test.cpp @@ -31,8 +31,7 @@ class MockInterpolator : public Interpolator class OpenSpaceToolkit_Mathematics_Interpolator : public ::testing::Test { protected: - const Interpolator::Type defaulttype_ = - Interpolator::Type::BarycentricRational; + const Interpolator::Type defaulttype_ = Interpolator::Type::BarycentricRational; const MockInterpolator defaultInterpolator_ {defaulttype_}; }; diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Composite.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Composite.test.cpp index 20f2fbfd..e4a2e0ac 100644 --- a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Composite.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Composite.test.cpp @@ -70,7 +70,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, Constructor) Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); @@ -166,7 +166,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, EqualToOperator) Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); @@ -291,7 +291,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, NotEqualToOperat Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); @@ -760,7 +760,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, AccessObjectAt) Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); @@ -821,7 +821,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, AccessObjects) Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); @@ -879,7 +879,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, GetObjectCount) Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); @@ -942,7 +942,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Composite, ConstIterator) Unique cuboidUPtr = std::make_unique(center, axes, extent); - Array> objects= Array>::Empty(); + Array> objects = Array>::Empty(); objects.emplace_back(std::move(pyramidUPtr)); objects.emplace_back(std::move(cuboidUPtr)); diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Polygon.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Polygon.test.cpp index 328f204c..774380e4 100644 --- a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Polygon.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Object/Polygon.test.cpp @@ -302,7 +302,7 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Polygon, GetYAxis) TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Object_Polygon, GetNormalVector) { using ostk::core::type::Real; - + using ostk::mathematics::object::Vector3d; using Polygon2d = ostk::mathematics::geometry::d2::object::Polygon; using ostk::mathematics::geometry::d3::object::Point; diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle.test.cpp new file mode 100644 index 00000000..533d052a --- /dev/null +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle.test.cpp @@ -0,0 +1,807 @@ +/// Apache License 2.0 + +#include +#include + +#include +#include +#include +#include +#include + +#include + +using ostk::core::type::String; +using ostk::core::filesystem::Path; +using ostk::core::filesystem::File; +using ostk::core::container::Table; + +using ostk::mathematics::object::Vector3d; +using ostk::mathematics::geometry::Angle; +using ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle; +using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; +using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix; +using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, Constructor) +{ + { + EulerAngle eulerAngle = { + Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX + }; + + EXPECT_TRUE(eulerAngle.isDefined()); + } + + { + EulerAngle eulerAngle = { + Angle::Degrees(0.0), Angle::Undefined(), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX + }; + + EXPECT_FALSE(eulerAngle.isDefined()); + } + + { + EulerAngle eulerAngle = { + Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::Undefined + }; + + EXPECT_FALSE(eulerAngle.isDefined()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, EqualToOperator) +{ + { + EXPECT_TRUE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) == + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + ); + + EXPECT_TRUE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) == + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + ); + } + + { + EXPECT_FALSE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) == + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::XYZ) + ); + + EXPECT_FALSE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) == + EulerAngle::Undefined() + ); + + EXPECT_FALSE( + EulerAngle::Undefined() == + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + ); + + EXPECT_FALSE(EulerAngle::Undefined() == EulerAngle::Undefined()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, NotEqualToOperator) +{ + { + EXPECT_TRUE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) != + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(1.0), EulerAngle::AxisSequence::ZYX) + ); + + EXPECT_TRUE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) != + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::XYZ) + ); + } + + { + EXPECT_FALSE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) != + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + ); + + EXPECT_FALSE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) != + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + ); + } + + { + EXPECT_TRUE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) != + EulerAngle::Undefined() + ); + + EXPECT_TRUE( + EulerAngle::Undefined() != + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + ); + + EXPECT_TRUE(EulerAngle::Undefined() != EulerAngle::Undefined()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, IsDefined) +{ + { + EXPECT_TRUE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + .isDefined() + ); + + EXPECT_TRUE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .isDefined() + ); + } + + { + EXPECT_FALSE( + EulerAngle(Angle::Degrees(1.0), Angle::Undefined(), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .isDefined() + ); + } + + { + EXPECT_FALSE(EulerAngle::Undefined().isDefined()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, IsUnitary) +{ + { + EXPECT_TRUE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + .isUnitary() + ); + + EXPECT_TRUE(EulerAngle::Unit().isUnitary()); + } + + { + EXPECT_FALSE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .isUnitary() + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().isUnitary()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, IsNear) +{ + { + EXPECT_TRUE( + EulerAngle(Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX) + .isNear( + EulerAngle( + Angle::Degrees(0.0), Angle::Degrees(0.0), Angle::Degrees(0.0), EulerAngle::AxisSequence::ZYX + ), + Angle::Degrees(0.0) + ) + ); + + EXPECT_TRUE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .isNear( + EulerAngle( + Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX + ), + Angle::Degrees(0.0) + ) + ); + + EXPECT_TRUE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .isNear( + EulerAngle( + Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX + ), + Angle::Degrees(1.0) + ) + ); + + EXPECT_TRUE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(4.0), EulerAngle::AxisSequence::ZYX) + .isNear( + EulerAngle( + Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX + ), + Angle::Degrees(1.0) + ) + ); + } + + { + EXPECT_FALSE( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.1), EulerAngle::AxisSequence::ZYX) + .isNear( + EulerAngle( + Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX + ), + Angle::Degrees(0.0) + ) + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Unit().isNear(EulerAngle::Undefined(), Angle::Undefined())); + EXPECT_ANY_THROW(EulerAngle::Undefined().isNear(EulerAngle::Unit(), Angle::Undefined())); + EXPECT_ANY_THROW(EulerAngle::Unit().isNear(EulerAngle::Unit(), Angle::Undefined())); + EXPECT_ANY_THROW(EulerAngle::Undefined().isNear(EulerAngle::Undefined(), Angle::Undefined())); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, GetPhi) +{ + { + EXPECT_EQ( + Angle::Degrees(1.0), + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .getPhi() + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().getPhi()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, GetTheta) +{ + { + EXPECT_EQ( + Angle::Degrees(2.0), + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .getTheta() + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().getTheta()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, GetPsi) +{ + { + EXPECT_EQ( + Angle::Degrees(3.0), + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .getPsi() + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().getPsi()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, GetAxisSequence) +{ + { + EXPECT_EQ( + EulerAngle::AxisSequence::ZYX, + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .getAxisSequence() + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().getAxisSequence()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, ToVector) +{ + { + EXPECT_EQ( + Vector3d(1.0, 2.0, 3.0), + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX) + .toVector(Angle::Unit::Degree) + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().toVector(Angle::Unit::Degree)); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, ToString) +{ + { + EXPECT_EQ( + "[1.1, 2.2, 3.3] (ZYX)", + EulerAngle(Angle::Degrees(1.1), Angle::Degrees(2.2), Angle::Degrees(3.3), EulerAngle::AxisSequence::ZYX) + .toString(Angle::Unit::Degree) + ); + } + + { + EXPECT_ANY_THROW(EulerAngle::Undefined().toString(Angle::Unit::Degree)); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, Undefined) +{ + { + EXPECT_NO_THROW(EulerAngle::Undefined()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, Unit) +{ + { + EXPECT_NO_THROW(EulerAngle::Unit()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, XYZ) +{ + { + EXPECT_EQ( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::XYZ), + EulerAngle::XYZ(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0)) + ); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, ZXY) +{ + { + EXPECT_EQ( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZXY), + EulerAngle::ZXY(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0)) + ); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, ZYX) +{ + { + EXPECT_EQ( + EulerAngle(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0), EulerAngle::AxisSequence::ZYX), + EulerAngle::ZYX(Angle::Degrees(1.0), Angle::Degrees(2.0), Angle::Degrees(3.0)) + ); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, Quaternion) +{ + { + EXPECT_EQ(EulerAngle::Unit(), EulerAngle::Quaternion(Quaternion::Unit(), EulerAngle::AxisSequence::ZYX)); + } + + // XYZ + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/Quaternion-EulerAngle-XYZ.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-8); + + for (const auto& referenceDataRow : referenceDataTable) + { + const Quaternion quaternion = Quaternion::XYZS( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal(), + referenceDataRow[3].accessReal() + ) + .normalize(); + + const EulerAngle referenceEulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()), + Angle::Radians(referenceDataRow[6].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::Quaternion(quaternion, EulerAngle::AxisSequence::XYZ); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + // ZXY + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/Quaternion-EulerAngle-ZXY.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-8); + + for (const auto& referenceDataRow : referenceDataTable) + { + const Quaternion quaternion = Quaternion::XYZS( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal(), + referenceDataRow[3].accessReal() + ) + .normalize(); + + const EulerAngle referenceEulerAngle = EulerAngle::ZXY( + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()), + Angle::Radians(referenceDataRow[6].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::Quaternion(quaternion, EulerAngle::AxisSequence::ZXY); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + // ZYX + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/Quaternion-EulerAngle-ZYX.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-8); + + for (const auto& referenceDataRow : referenceDataTable) + { + const Quaternion quaternion = Quaternion::XYZS( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal(), + referenceDataRow[3].accessReal() + ) + .normalize(); + + const EulerAngle referenceEulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()), + Angle::Radians(referenceDataRow[6].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::Quaternion(quaternion, EulerAngle::AxisSequence::ZYX); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + { + EXPECT_ANY_THROW(EulerAngle::Quaternion(Quaternion::Unit(), EulerAngle::AxisSequence::Undefined)); + EXPECT_ANY_THROW(EulerAngle::Quaternion(Quaternion::Undefined(), EulerAngle::AxisSequence::ZYX)); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, RotationVector) +{ + { + EXPECT_EQ( + EulerAngle::Unit(), EulerAngle::RotationVector(RotationVector::Unit(), EulerAngle::AxisSequence::ZYX) + ); + } + + // XYZ + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationVector-EulerAngle-XYZ.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-6); + + for (const auto& referenceDataRow : referenceDataTable) + { + const RotationVector rotationVector = RotationVector( + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ), + Angle::Unit::Radian + ); + + const EulerAngle referenceEulerAngle = EulerAngle::XYZ( + Angle::Radians(referenceDataRow[3].accessReal()), + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::RotationVector(rotationVector, EulerAngle::AxisSequence::XYZ); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + // ZXY + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationVector-EulerAngle-ZXY.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-6); + + for (const auto& referenceDataRow : referenceDataTable) + { + const RotationVector rotationVector = RotationVector( + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ), + Angle::Unit::Radian + ); + + const EulerAngle referenceEulerAngle = EulerAngle::ZXY( + Angle::Radians(referenceDataRow[3].accessReal()), + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::RotationVector(rotationVector, EulerAngle::AxisSequence::ZXY); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + // ZYX + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationVector-EulerAngle-ZYX.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-6); + + for (const auto& referenceDataRow : referenceDataTable) + { + const RotationVector rotationVector = RotationVector( + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ), + Angle::Unit::Radian + ); + + const EulerAngle referenceEulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[3].accessReal()), + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::RotationVector(rotationVector, EulerAngle::AxisSequence::ZYX); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + { + EXPECT_ANY_THROW(EulerAngle::RotationVector(RotationVector::Unit(), EulerAngle::AxisSequence::Undefined)); + EXPECT_ANY_THROW(EulerAngle::RotationVector(RotationVector::Undefined(), EulerAngle::AxisSequence::ZYX)); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, RotationMatrix) +{ + { + EXPECT_EQ( + EulerAngle::Unit(), EulerAngle::RotationMatrix(RotationMatrix::Unit(), EulerAngle::AxisSequence::ZYX) + ); + } + + // XYZ + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationMatrix-EulerAngle-XYZ.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-8); + + for (const auto& referenceDataRow : referenceDataTable) + { + const Vector3d x = + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ) + .normalized(); + + Vector3d y = + Vector3d( + referenceDataRow[3].accessReal(), referenceDataRow[4].accessReal(), referenceDataRow[5].accessReal() + ) + .normalized(); + + const Vector3d z = x.cross(y); + + // Ensure that the y-axis is orthogonal to the x-axis + y = z.cross(x); + + const RotationMatrix rotationMatrix = RotationMatrix::Rows(x, y, z); + + const EulerAngle referenceEulerAngle = EulerAngle::XYZ( + Angle::Radians(referenceDataRow[9].accessReal()), + Angle::Radians(referenceDataRow[10].accessReal()), + Angle::Radians(referenceDataRow[11].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::RotationMatrix(rotationMatrix, EulerAngle::AxisSequence::XYZ); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + // ZXY + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationMatrix-EulerAngle-ZXY.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-8); + + for (const auto& referenceDataRow : referenceDataTable) + { + const Vector3d x = + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ) + .normalized(); + + Vector3d y = + Vector3d( + referenceDataRow[3].accessReal(), referenceDataRow[4].accessReal(), referenceDataRow[5].accessReal() + ) + .normalized(); + + const Vector3d z = x.cross(y); + + // Ensure that the y-axis is orthogonal to the x-axis + y = z.cross(x); + + const RotationMatrix rotationMatrix = RotationMatrix::Rows(x, y, z); + + const EulerAngle referenceEulerAngle = EulerAngle::ZXY( + Angle::Radians(referenceDataRow[9].accessReal()), + Angle::Radians(referenceDataRow[10].accessReal()), + Angle::Radians(referenceDataRow[11].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::RotationMatrix(rotationMatrix, EulerAngle::AxisSequence::ZXY); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + // ZYX + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationMatrix-EulerAngle-ZYX.csv")), + Table::Format::CSV, + true + ); + + const Angle angularTolerance = Angle::Degrees(1e-8); + + for (const auto& referenceDataRow : referenceDataTable) + { + const Vector3d x = + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ) + .normalized(); + + Vector3d y = + Vector3d( + referenceDataRow[3].accessReal(), referenceDataRow[4].accessReal(), referenceDataRow[5].accessReal() + ) + .normalized(); + + const Vector3d z = x.cross(y); + + // Ensure that the y-axis is orthogonal to the x-axis + y = z.cross(x); + + const RotationMatrix rotationMatrix = RotationMatrix::Rows(x, y, z); + + const EulerAngle referenceEulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[9].accessReal()), + Angle::Radians(referenceDataRow[10].accessReal()), + Angle::Radians(referenceDataRow[11].accessReal()) + ); + + const EulerAngle eulerAngle = EulerAngle::RotationMatrix(rotationMatrix, EulerAngle::AxisSequence::ZYX); + + EXPECT_TRUE(eulerAngle.getPhi().isNear(referenceEulerAngle.getPhi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPhi().toString(), eulerAngle.getPhi().toString()); + EXPECT_TRUE(eulerAngle.getTheta().isNear(referenceEulerAngle.getTheta(), angularTolerance) + ) << String::Format("{} / {}", referenceEulerAngle.getTheta().toString(), eulerAngle.getTheta().toString()); + EXPECT_TRUE(eulerAngle.getPsi().isNear(referenceEulerAngle.getPsi(), angularTolerance)) + << String::Format("{} / {}", referenceEulerAngle.getPsi().toString(), eulerAngle.getPsi().toString()); + } + } + + { + EXPECT_ANY_THROW(EulerAngle::RotationMatrix(RotationMatrix::Unit(), EulerAngle::AxisSequence::Undefined)); + EXPECT_ANY_THROW(EulerAngle::RotationMatrix(RotationMatrix::Undefined(), EulerAngle::AxisSequence::ZYX)); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_EulerAngle, StringFromAxisSequence) +{ + { + EXPECT_EQ("XYZ", EulerAngle::StringFromAxisSequence(EulerAngle::AxisSequence::XYZ)); + EXPECT_EQ("ZXY", EulerAngle::StringFromAxisSequence(EulerAngle::AxisSequence::ZXY)); + EXPECT_EQ("XYZ", EulerAngle::StringFromAxisSequence(EulerAngle::AxisSequence::XYZ)); + } + + { + EXPECT_ANY_THROW(EulerAngle::StringFromAxisSequence(EulerAngle::AxisSequence::Undefined)); + } +} diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle/Quaternion-EulerAngle-XYZ.csv 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+1.5217978987525929,1.2839306505889936,0.5132239420238799,1.212166323744551,0.28525091750444864,1.9724596033545336 +-0.7808861504241047,1.9262416436143108,0.34684402128667685,0.8842065740110394,2.0702057556001163,0.19152301641456848 +-1.7970133517204527,1.0691288110914663,0.6779776584545594,2.4637225729319154,2.224383948232867,0.7711042274290625 +-2.7763981905605704,0.48386852450561585,-0.8109808133220501,2.709674565803124,3.6464581668651577,0.3336985966932482 diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle/generate.py b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle/generate.py new file mode 100644 index 00000000..5ad236df --- /dev/null +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle/generate.py @@ -0,0 +1,104 @@ +# Apache License 2.0 + +""" +Generate reference data for the Euler angle representation of rotations. +""" + +import math + +import pandas as pd + +from scipy.spatial.transform import Rotation + +axis_sequences = [ + "XYZ", + "ZXY", + "ZYX", +] + +count = 1000 + + +def sanitize_euler_angle(args): + # https://math.stackexchange.com/a/55552 + phi, theta, psi = args + + if phi < 0.0: + phi = phi + math.pi + theta = math.pi - theta + psi = psi + math.pi + + return [phi, theta, psi] + + +for axis_sequence in axis_sequences: + rotations = [ + Rotation.identity(), + *Rotation.random(count), + ] + + euler_angles = [ + sanitize_euler_angle(list(rotation.as_euler(axis_sequence))) + for rotation in rotations + ] + + pd.DataFrame( + [ + list(rotation.as_quat()) + euler_angle + for rotation, euler_angle in zip(rotations, euler_angles) + ], + columns=[ + "q_x", + "q_y", + "q_z", + "q_s", + "phi", + "theta", + "psi", + ], + ).to_csv( + f"Quaternion-EulerAngle-{axis_sequence}.csv", + index=False, + ) + + pd.DataFrame( + [ + list(rotation.as_rotvec()) + euler_angle + for rotation, euler_angle in zip(rotations, euler_angles) + ], + columns=[ + "rotvec_x", + "rotvec_y", + "rotvec_z", + "phi", + "theta", + "psi", + ], + ).to_csv( + f"RotationVector-EulerAngle-{axis_sequence}.csv", + index=False, + ) + + pd.DataFrame( + [ + list(rotation.as_matrix().transpose().reshape(9)) + euler_angle + for rotation, euler_angle in zip(rotations, euler_angles) + ], + columns=[ + "m_xx", + "m_xy", + "m_xz", + "m_yx", + "m_yy", + "m_yz", + "m_zx", + "m_zy", + "m_zz", + "phi", + "theta", + "psi", + ], + ).to_csv( + f"RotationMatrix-EulerAngle-{axis_sequence}.csv", + index=False, + ) diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/Quaternion.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/Quaternion.test.cpp index 3d6013ab..58e4f310 100644 --- a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/Quaternion.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/Quaternion.test.cpp @@ -1,5 +1,9 @@ /// Apache License 2.0 +#include +#include + +#include #include #include #include @@ -7,12 +11,22 @@ #include +using ostk::core::type::Real; +using ostk::core::type::String; +using ostk::core::filesystem::Path; +using ostk::core::filesystem::File; +using ostk::core::container::Table; + +using ostk::mathematics::object::Vector3d; +using ostk::mathematics::object::Vector4d; +using ostk::mathematics::geometry::Angle; +using ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle; +using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; +using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix; +using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; + TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Constructor) { - using ostk::mathematics::object::Vector3d; - using ostk::mathematics::object::Vector4d; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_NO_THROW(Quaternion(0.0, 0.0, 0.0, 1.0, Quaternion::Format::XYZS)); @@ -40,8 +54,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, EqualToOperator) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE( Quaternion(1.0, 0.0, 0.0, 0.0, Quaternion::Format::XYZS) == @@ -119,8 +131,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, NotEqualToOperator) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE( Quaternion(1.0, 0.0, 0.0, 0.0, Quaternion::Format::XYZS) != @@ -198,8 +208,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, AdditionOperator) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ( Quaternion::XYZS(2.0, 4.0, 6.0, 8.0), @@ -215,8 +223,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, MultiplicationOperator_Quaternion) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion::Unit(), Quaternion::Unit() * Quaternion::Unit()); } @@ -229,9 +235,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, MultiplicationOperator_Vector3d) { - using ostk::mathematics::object::Vector3d; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Vector3d::X(), Quaternion::Unit() * Vector3d::X()); } @@ -244,10 +247,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, MultiplicationOperator_Real) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion::Unit(), Quaternion::Unit() * 1.0); EXPECT_EQ(Quaternion::Unit(), 1.0 * Quaternion::Unit()); @@ -265,8 +264,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, DivisionOperator) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -277,11 +274,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, PowerOperator) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion::Unit(), Quaternion::Unit() ^ 1.0); EXPECT_TRUE((Quaternion::XYZS(1.0, 0.0, 0.0, 0.0) ^ 2.0) @@ -298,8 +290,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // MultiplicationAssignmentOperator) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -311,8 +301,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, DivisionAssignmentOperator) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -323,8 +311,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, StreamOperator) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { testing::internal::CaptureStdout(); @@ -336,8 +322,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, IsDefined) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE(Quaternion::XYZS(1.0, 0.0, 0.0, 0.0).isDefined()); EXPECT_TRUE(Quaternion::XYZS(0.0, 1.0, 0.0, 0.0).isDefined()); @@ -356,8 +340,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, IsUnitary) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE(Quaternion::XYZS(1.0, 0.0, 0.0, 0.0).isUnitary()); EXPECT_TRUE(Quaternion::XYZS(0.0, 1.0, 0.0, 0.0).isUnitary()); @@ -376,9 +358,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, IsNear) { - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE(Quaternion::XYZS(1.0, 0.0, 0.0, 0.0).isNear(Quaternion::XYZS(1.0, 0.0, 0.0, 0.0), Angle::Zero())); EXPECT_TRUE(Quaternion::XYZS(0.0, 1.0, 0.0, 0.0).isNear(Quaternion::XYZS(0.0, 1.0, 0.0, 0.0), Angle::Zero())); @@ -421,8 +400,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, X) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(1.0, Quaternion::XYZS(1.0, 2.0, 3.0, 4.0).x()); } @@ -434,8 +411,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Y) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(2.0, Quaternion::XYZS(1.0, 2.0, 3.0, 4.0).y()); } @@ -447,8 +422,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Z) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(3.0, Quaternion::XYZS(1.0, 2.0, 3.0, 4.0).z()); } @@ -460,8 +433,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, S) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(4.0, Quaternion::XYZS(1.0, 2.0, 3.0, 4.0).s()); } @@ -473,9 +444,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, GetVectorPart) { - using ostk::mathematics::object::Vector3d; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Vector3d(1.0, 2.0, 3.0), Quaternion::XYZS(1.0, 2.0, 3.0, 4.0).getVectorPart()); } @@ -487,8 +455,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, GetScalarPart) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(4.0, Quaternion::XYZS(1.0, 2.0, 3.0, 4.0).getScalarPart()); } @@ -501,8 +467,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, ToNormalized) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -513,8 +477,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, ToConjugate) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion::XYZS(-1.0, -2.0, -3.0, +4.0), Quaternion::XYZS(+1.0, +2.0, +3.0, +4.0).toConjugate()); EXPECT_EQ(Quaternion::XYZS(+1.0, +2.0, +3.0, +4.0), Quaternion::XYZS(-1.0, -2.0, -3.0, +4.0).toConjugate()); @@ -531,8 +493,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, ToInverse) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -543,9 +503,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Exp) { - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion::Unit(), Quaternion::Unit().exp()); EXPECT_TRUE(Quaternion::XYZS(1.0, 0.0, 0.0, 0.0) @@ -561,9 +518,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Log) { - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion({0.0, 0.0, 0.0}, 0.0), Quaternion::Unit().log()); EXPECT_TRUE(Quaternion::XYZS(0.841471, 0.0, 0.0, 0.540302) @@ -579,11 +533,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Pow) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Quaternion::Unit(), Quaternion::Unit().pow(1.0)); EXPECT_TRUE(Quaternion::XYZS(1.0, 0.0, 0.0, 0.0) @@ -600,8 +549,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Norm) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -613,8 +560,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, CrossMultiply) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -626,8 +571,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, DotMultiply) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -639,8 +582,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, RotateVector) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -651,9 +592,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, ToVector) { - using ostk::mathematics::object::Vector4d; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ( Vector4d(0.0, 0.0, 0.0, 1.0), Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).toVector(Quaternion::Format::XYZS) @@ -670,8 +608,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, ToString) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ("[0.0, 0.0, 0.0, 1.0]", Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).toString(Quaternion::Format::XYZS)); EXPECT_EQ("[1.0, 0.0, 0.0, 0.0]", Quaternion::XYZS(0.0, 0.0, 0.0, 1.0).toString(Quaternion::Format::SXYZ)); @@ -701,8 +637,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Normalize) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -714,8 +648,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Conjugate) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -727,8 +659,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Inverse) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -740,8 +670,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion // TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Rectify) // { -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; - // { // FAIL() ; @@ -752,9 +680,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, AngularDifferenceWith) { - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_EQ(Angle::Zero(), Quaternion::Unit().angularDifferenceWith(Quaternion::Unit())); EXPECT_EQ( @@ -780,8 +705,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Undefined) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_NO_THROW(Quaternion::Undefined()); EXPECT_FALSE(Quaternion::Undefined().isDefined()); @@ -790,8 +713,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Unit) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_NO_THROW(Quaternion::Unit()); EXPECT_EQ(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Quaternion::Unit()); @@ -800,8 +721,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, XYZS) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_NO_THROW(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0)); EXPECT_EQ(Quaternion(0.0, 0.0, 0.0, 1.0, Quaternion::Format::XYZS), Quaternion::XYZS(0.0, 0.0, 0.0, 1.0)); @@ -810,12 +729,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, RotationVector) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE(Quaternion(0.0, 0.0, 0.0, 1.0, Quaternion::Format::XYZS) .isNear( @@ -836,25 +749,17 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, RotationMatrix) { - using ostk::core::type::Real; - - using ostk::mathematics::object::Vector3d; - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - { EXPECT_TRUE(Quaternion(0.0, 0.0, 0.0, 1.0, Quaternion::Format::XYZS) .isNear(Quaternion::RotationMatrix(RotationMatrix::Unit()), Angle::Radians(Real::Epsilon()))); } { - for (auto angleDeg = 0.0; angleDeg <= 720.0; angleDeg += 5.0) + for (auto angleDeg = 0.0; angleDeg <= 720.0; angleDeg += 50.0) { const Angle angle = Angle::Degrees(angleDeg); - for (auto axisIdx = 0; axisIdx < 100; ++axisIdx) + for (auto axisIdx = 0; axisIdx < 20; ++axisIdx) { const Vector3d axis = Vector3d(std::cos(axisIdx), std::sin(axisIdx), std::cos(axisIdx) * std::sin(axisIdx)).normalized(); @@ -886,10 +791,145 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion } } -TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Parse) +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, EulerAngle) { - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; + { + EXPECT_EQ(Quaternion::Unit(), Quaternion::EulerAngle(EulerAngle::Unit())); + } + + // XYZ + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/Quaternion-EulerAngle-XYZ.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-10; + + for (const auto& referenceDataRow : referenceDataTable) + { + const Quaternion referenceQuaternion = Quaternion::XYZS( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal(), + referenceDataRow[3].accessReal() + ) + .normalize() + .rectify(); + + const EulerAngle referenceEulerAngle = EulerAngle::XYZ( + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()), + Angle::Radians(referenceDataRow[6].accessReal()) + ); + + const Quaternion quaternion = Quaternion::EulerAngle(referenceEulerAngle).rectify(); + + EXPECT_NEAR(quaternion.x(), referenceQuaternion.x(), tolerance) + << String::Format("{} / {}", referenceQuaternion.x().toString(), quaternion.x().toString()); + EXPECT_NEAR(quaternion.y(), referenceQuaternion.y(), tolerance) + << String::Format("{} / {}", referenceQuaternion.y().toString(), quaternion.y().toString()); + EXPECT_NEAR(quaternion.z(), referenceQuaternion.z(), tolerance) + << String::Format("{} / {}", referenceQuaternion.z().toString(), quaternion.z().toString()); + EXPECT_NEAR(quaternion.s(), referenceQuaternion.s(), tolerance) + << String::Format("{} / {}", referenceQuaternion.s().toString(), quaternion.s().toString()); + } + } + + // ZXY + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/Quaternion-EulerAngle-ZXY.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-10; + + for (const auto& referenceDataRow : referenceDataTable) + { + const Quaternion referenceQuaternion = Quaternion::XYZS( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal(), + referenceDataRow[3].accessReal() + ) + .normalize() + .rectify(); + + const EulerAngle referenceEulerAngle = EulerAngle::ZXY( + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()), + Angle::Radians(referenceDataRow[6].accessReal()) + ); + + const Quaternion quaternion = Quaternion::EulerAngle(referenceEulerAngle).rectify(); + + EXPECT_NEAR(quaternion.x(), referenceQuaternion.x(), tolerance) + << String::Format("{} / {}", referenceQuaternion.x().toString(), quaternion.x().toString()); + EXPECT_NEAR(quaternion.y(), referenceQuaternion.y(), tolerance) + << String::Format("{} / {}", referenceQuaternion.y().toString(), quaternion.y().toString()); + EXPECT_NEAR(quaternion.z(), referenceQuaternion.z(), tolerance) + << String::Format("{} / {}", referenceQuaternion.z().toString(), quaternion.z().toString()); + EXPECT_NEAR(quaternion.s(), referenceQuaternion.s(), tolerance) + << String::Format("{} / {}", referenceQuaternion.s().toString(), quaternion.s().toString()); + } + } + + // ZYX + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/Quaternion-EulerAngle-ZYX.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-10; + + for (const auto& referenceDataRow : referenceDataTable) + { + const Quaternion referenceQuaternion = Quaternion::XYZS( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal(), + referenceDataRow[3].accessReal() + ) + .normalize() + .rectify(); + + const EulerAngle referenceEulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()), + Angle::Radians(referenceDataRow[6].accessReal()) + ); + + const Quaternion quaternion = Quaternion::EulerAngle(referenceEulerAngle).rectify(); + + EXPECT_NEAR(quaternion.x(), referenceQuaternion.x(), tolerance) + << String::Format("{} / {}", referenceQuaternion.x().toString(), quaternion.x().toString()); + EXPECT_NEAR(quaternion.y(), referenceQuaternion.y(), tolerance) + << String::Format("{} / {}", referenceQuaternion.y().toString(), quaternion.y().toString()); + EXPECT_NEAR(quaternion.z(), referenceQuaternion.z(), tolerance) + << String::Format("{} / {}", referenceQuaternion.z().toString(), quaternion.z().toString()); + EXPECT_NEAR(quaternion.s(), referenceQuaternion.s(), tolerance) + << String::Format("{} / {}", referenceQuaternion.s().toString(), quaternion.s().toString()); + } + } + + { + EXPECT_ANY_THROW(Quaternion::EulerAngle(EulerAngle::Undefined())); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, Parse) +{ { EXPECT_NO_THROW(Quaternion::Parse("[0.0, 0.0, 0.0, 1.0]", Quaternion::Format::XYZS)); EXPECT_EQ( @@ -912,11 +952,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, ShortestRotation) { - using ostk::mathematics::object::Vector3d; - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; - { EXPECT_TRUE(Quaternion::ShortestRotation({1.0, 0.0, 0.0}, {1.0, 0.0, 0.0}) .isNear(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Angle::Radians(1e-9))); @@ -944,12 +979,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, LERP) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; - { EXPECT_TRUE(Quaternion::LERP(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Quaternion::XYZS(0.0, 0.0, 1.0, 0.0), 0.0) .isNear(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Angle::Radians(1e-9))); @@ -969,12 +998,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, NLERP) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; - { EXPECT_TRUE(Quaternion::NLERP(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Quaternion::XYZS(0.0, 0.0, 1.0, 0.0), 0.0) .isNear(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Angle::Radians(1e-9))); @@ -1004,12 +1027,6 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_Quaternion, SLERP) { - using ostk::core::type::Real; - - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; - { EXPECT_TRUE(Quaternion::SLERP(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Quaternion::XYZS(0.0, 0.0, 1.0, 0.0), 0.0) .isNear(Quaternion::XYZS(0.0, 0.0, 0.0, 1.0), Angle::Radians(1e-9))); diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationMatrix.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationMatrix.test.cpp index 6af6ad40..1ed154d1 100644 --- a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationMatrix.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationMatrix.test.cpp @@ -1,5 +1,9 @@ /// Apache License 2.0 +#include +#include + +#include #include #include #include @@ -7,266 +11,390 @@ #include -TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Constructor) -{ - using ostk::mathematics::geometry::Angle; - using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix; - - // { - - // EXPECT_NO_THROW(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(45.0))) ; - - // RotationMatrix rotationMatrix = { { 0.0, 0.0, 1.0 }, Angle::Degrees(45.0) } ; - - // EXPECT_TRUE(rotationMatrix.isDefined()) ; +using ostk::core::type::Real; +using ostk::core::type::String; +using ostk::core::filesystem::Path; +using ostk::core::filesystem::File; +using ostk::core::container::Table; - // } +using ostk::mathematics::object::Vector3d; +using ostk::mathematics::object::Matrix3d; +using ostk::mathematics::geometry::Angle; +using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; +using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix; +using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; +using ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle; - // { - - // } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Constructor) +{ + { + const RotationMatrix rotationMatrix = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; - // { + EXPECT_TRUE(rotationMatrix.isDefined()); + } - // EXPECT_ANY_THROW(RotationMatrix({ 0.0, 0.0, 0.9 }, Angle::Degrees(45.0))) ; - // EXPECT_ANY_THROW(RotationMatrix({ 0.0, 0.0, 1.1 }, Angle::Degrees(45.0))) ; + { + const RotationMatrix rotationMatrix = {Matrix3d::Identity()}; - // } + EXPECT_TRUE(rotationMatrix.isDefined()); + } } -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, EqualToOperator) -// { - -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; - -// { - -// EXPECT_TRUE(RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)) == RotationMatrix({ 1.0, 0.0, 0.0 }, -// Angle::Degrees(0.0))) ; EXPECT_TRUE(RotationMatrix({ 0.0, 1.0, 0.0 }, Angle::Degrees(10.0)) == -// RotationMatrix({ 0.0, 1.0, 0.0 }, Angle::Degrees(10.0))) ; EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, -// Angle::Degrees(20.0)) == RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(20.0))) ; - -// EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(30.0)) == RotationMatrix({ 0.0, 0.0, +1.0 }, -// Angle::Degrees(+30.0))) ; EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(30.0)) == -// RotationMatrix({ 0.0, 0.0, -1.0 }, Angle::Degrees(-30.0))) ; - -// EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0)) == RotationMatrix({ 0.0, 0.0, 1.0 }, -// Angle::Degrees(+360.0))) ; EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0)) == -// RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(-360.0))) ; - -// EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(+180.0)) == RotationMatrix({ 0.0, 0.0, 1.0 }, -// Angle::Degrees(-180.0))) ; - -// } - -// { - -// EXPECT_FALSE(RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)) == RotationMatrix({ 1.0, 0.0, 0.0 }, -// Angle::Degrees(1.0))) ; - -// } - -// { - -// EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0)) == RotationMatrix::Undefined()) ; -// EXPECT_FALSE(RotationMatrix::Undefined() == RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0))) ; -// EXPECT_FALSE(RotationMatrix::Undefined() == RotationMatrix::Undefined()) ; - -// } - -// } - -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, NotEqualToOperator) -// { - -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; - -// { - -// EXPECT_TRUE(RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)) != RotationMatrix({ 1.0, 0.0, 0.0 }, -// Angle::Degrees(1.0))) ; - -// } - -// { - -// EXPECT_TRUE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0)) != RotationMatrix::Undefined()) ; -// EXPECT_TRUE(RotationMatrix::Undefined() != RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0))) ; -// EXPECT_TRUE(RotationMatrix::Undefined() != RotationMatrix::Undefined()) ; - -// } - -// { - -// EXPECT_FALSE(RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)) != RotationMatrix({ 1.0, 0.0, 0.0 }, -// Angle::Degrees(0.0))) ; EXPECT_FALSE(RotationMatrix({ 0.0, 1.0, 0.0 }, Angle::Degrees(10.0)) != -// RotationMatrix({ 0.0, 1.0, 0.0 }, Angle::Degrees(10.0))) ; EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, -// Angle::Degrees(20.0)) != RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(20.0))) ; - -// EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(30.0)) != RotationMatrix({ 0.0, 0.0, +1.0 }, -// Angle::Degrees(+30.0))) ; EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(30.0)) != -// RotationMatrix({ 0.0, 0.0, -1.0 }, Angle::Degrees(-30.0))) ; - -// EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0)) != RotationMatrix({ 0.0, 0.0, 1.0 }, -// Angle::Degrees(+360.0))) ; EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(0.0)) != -// RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(-360.0))) ; - -// EXPECT_FALSE(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(+180.0)) != RotationMatrix({ 0.0, 0.0, 1.0 }, -// Angle::Degrees(-180.0))) ; - -// } - -// } - -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, StreamOperator) -// { - -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; - -// { - -// testing::internal::CaptureStdout() ; - -// EXPECT_NO_THROW(std::cout << RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(10.0)) << std::endl) ; - -// EXPECT_FALSE(testing::internal::GetCapturedStdout().empty()) ; - -// } - -// } - -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, IsDefined) -// { - -// using ostk::mathematics::object::Vector3d ; -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; - -// { - -// EXPECT_TRUE(RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(10.0)).isDefined()) ; - -// } - -// { - -// EXPECT_FALSE(RotationMatrix::Undefined().isDefined()) ; -// EXPECT_FALSE(RotationMatrix(Vector3d::Undefined(), Angle::Degrees(10.0)).isDefined()) ; -// EXPECT_FALSE(RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Undefined()).isDefined()) ; +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, IsDefined) +{ + EXPECT_TRUE(RotationMatrix::Unit().isDefined()); + EXPECT_FALSE(RotationMatrix::Undefined().isDefined()); +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, EqualToOperator) +{ + // TBI +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, NotEqualToOperator) +{ + // TBI +} -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, GetAxis) -// { +TEST( + OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, + MultiplicationOperator_RotationMatrix +) +{ + // TBI +} -// using ostk::mathematics::object::Vector3d ; -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, MultiplicationOperator_Vector3d) +{ + // TBI +} -// { +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, IndexFunctionOperator) +{ + // TBI +} -// EXPECT_EQ(Vector3d(1.0, 0.0, 0.0), RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(10.0)).getAxis()) ; -// EXPECT_EQ(Vector3d(0.0, 1.0, 0.0), RotationMatrix({ 0.0, 1.0, 0.0 }, Angle::Degrees(20.0)).getAxis()) ; -// EXPECT_EQ(Vector3d(0.0, 0.0, 1.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(30.0)).getAxis()) ; +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, AccessMatrix) +{ + { + const RotationMatrix rotationMatrix = {1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0}; + + const Matrix3d& matrix = rotationMatrix.accessMatrix(); + + EXPECT_EQ(1.0, matrix(0, 0)); + EXPECT_EQ(0.0, matrix(0, 1)); + EXPECT_EQ(0.0, matrix(0, 2)); + EXPECT_EQ(0.0, matrix(1, 0)); + EXPECT_EQ(0.0, matrix(1, 1)); + EXPECT_EQ(1.0, matrix(1, 2)); + EXPECT_EQ(0.0, matrix(2, 0)); + EXPECT_EQ(-1.0, matrix(2, 1)); + EXPECT_EQ(0.0, matrix(2, 2)); + } + + { + EXPECT_ANY_THROW(RotationMatrix::Undefined().accessMatrix()); + } +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, GetRowAt) +{ + { + EXPECT_EQ(Vector3d(1.0, 0.0, 0.0), RotationMatrix::Unit().getRowAt(0)); + EXPECT_EQ(Vector3d(0.0, 1.0, 0.0), RotationMatrix::Unit().getRowAt(1)); + EXPECT_EQ(Vector3d(0.0, 0.0, 1.0), RotationMatrix::Unit().getRowAt(2)); + } + + { + EXPECT_ANY_THROW(RotationMatrix::Undefined().getRowAt(0)); + EXPECT_ANY_THROW(RotationMatrix::Undefined().getRowAt(1)); + EXPECT_ANY_THROW(RotationMatrix::Undefined().getRowAt(2)); + } +} -// { +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, GetColumnAt) +{ + { + EXPECT_EQ(Vector3d(1.0, 0.0, 0.0), RotationMatrix::Unit().getColumnAt(0)); + EXPECT_EQ(Vector3d(0.0, 1.0, 0.0), RotationMatrix::Unit().getColumnAt(1)); + EXPECT_EQ(Vector3d(0.0, 0.0, 1.0), RotationMatrix::Unit().getColumnAt(2)); + } + + { + EXPECT_ANY_THROW(RotationMatrix::Undefined().getColumnAt(0)); + EXPECT_ANY_THROW(RotationMatrix::Undefined().getColumnAt(1)); + EXPECT_ANY_THROW(RotationMatrix::Undefined().getColumnAt(2)); + } +} -// EXPECT_ANY_THROW(RotationMatrix::Undefined().getAxis()) ; +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, GetMatrix) +{ + { + const RotationMatrix rotationMatrix = {1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0}; + + const Matrix3d matrix = rotationMatrix.getMatrix(); + + EXPECT_EQ(1.0, matrix(0, 0)); + EXPECT_EQ(0.0, matrix(0, 1)); + EXPECT_EQ(0.0, matrix(0, 2)); + EXPECT_EQ(0.0, matrix(1, 0)); + EXPECT_EQ(0.0, matrix(1, 1)); + EXPECT_EQ(1.0, matrix(1, 2)); + EXPECT_EQ(0.0, matrix(2, 0)); + EXPECT_EQ(-1.0, matrix(2, 1)); + EXPECT_EQ(0.0, matrix(2, 2)); + } + + { + EXPECT_ANY_THROW(RotationMatrix::Undefined().getMatrix()); + } +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, ToTransposed) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::Unit().toTransposed()); + } -// } + { + RotationMatrix rotationMatrix = {1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0}; -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, GetAngle) -// { + const RotationMatrix transposedRotationMatrix = rotationMatrix.toTransposed(); -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; + const RotationMatrix referenceRotationMatrix = {1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0}; -// { + EXPECT_EQ(referenceRotationMatrix, transposedRotationMatrix); + } -// EXPECT_EQ(Angle::Degrees(0.0), RotationMatrix({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)).getAngle()) ; + { + EXPECT_ANY_THROW(RotationMatrix::Undefined().toTransposed()); + } +} -// EXPECT_EQ(Angle::Degrees(-30.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(-30.0)).getAngle()) ; -// EXPECT_EQ(Angle::Degrees(+30.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(+30.0)).getAngle()) ; +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Transpose) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::Unit().transpose()); + } -// EXPECT_EQ(Angle::Degrees(-90.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(-90.0)).getAngle()) ; -// EXPECT_EQ(Angle::Degrees(+90.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(+90.0)).getAngle()) ; + { + RotationMatrix rotationMatrix = {1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, -1.0, 0.0}; -// EXPECT_EQ(Angle::Degrees(-180.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(-180.0)).getAngle()) ; -// EXPECT_EQ(Angle::Degrees(+180.0), RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(+180.0)).getAngle()) ; + rotationMatrix.transpose(); -// } + const RotationMatrix referenceRotationMatrix = {1.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0}; -// { + EXPECT_EQ(referenceRotationMatrix, rotationMatrix); + } -// EXPECT_ANY_THROW(RotationMatrix::Undefined().getAngle()) ; + { + EXPECT_ANY_THROW(RotationMatrix::Undefined().transpose()); + } +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Undefined) +{ + EXPECT_NO_THROW(RotationMatrix::Undefined()); +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Unit) +{ + EXPECT_NO_THROW(RotationMatrix::Unit()); +} -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Undefined) -// { +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RX) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::RX(Angle::Degrees(0.0))); + } -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; + { + const RotationMatrix rotationMatrix = RotationMatrix::RX(Angle::Degrees(90.0)); -// { + EXPECT_TRUE(rotationMatrix.getRowAt(0).isApprox(Vector3d(1.0, 0.0, 0.0), 1e-16)); + EXPECT_TRUE(rotationMatrix.getRowAt(1).isApprox(Vector3d(0.0, 0.0, 1.0), 1e-16)); + EXPECT_TRUE(rotationMatrix.getRowAt(2).isApprox(Vector3d(0.0, -1.0, 0.0), 1e-16)); + } -// EXPECT_NO_THROW(RotationMatrix::Undefined()) ; -// EXPECT_FALSE(RotationMatrix::Undefined().isDefined()) ; + { + EXPECT_ANY_THROW(RotationMatrix::RX(Angle::Undefined())); + } +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RY) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::RY(Angle::Degrees(0.0))); + } -// } + { + const RotationMatrix rotationMatrix = RotationMatrix::RY(Angle::Degrees(90.0)); -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Unit) -// { + EXPECT_TRUE(rotationMatrix.getRowAt(0).isApprox(Vector3d(0.0, 0.0, -1.0), 1e-16)); + EXPECT_TRUE(rotationMatrix.getRowAt(1).isApprox(Vector3d(0.0, 1.0, 0.0), 1e-16)); + EXPECT_TRUE(rotationMatrix.getRowAt(2).isApprox(Vector3d(1.0, 0.0, 0.0), 1e-16)); + } -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; + { + EXPECT_ANY_THROW(RotationMatrix::RY(Angle::Undefined())); + } +} -// { +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RZ) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::RZ(Angle::Degrees(0.0))); + } -// EXPECT_NO_THROW(RotationMatrix::Unit()) ; -// EXPECT_EQ(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Zero()), RotationMatrix::Unit()) ; + { + const RotationMatrix rotationMatrix = RotationMatrix::RZ(Angle::Degrees(90.0)); -// } + EXPECT_TRUE(rotationMatrix.getRowAt(0).isApprox(Vector3d(0.0, 1.0, 0.0), 1e-16)); + EXPECT_TRUE(rotationMatrix.getRowAt(1).isApprox(Vector3d(-1.0, 0.0, 0.0), 1e-16)); + EXPECT_TRUE(rotationMatrix.getRowAt(2).isApprox(Vector3d(0.0, 0.0, 1.0), 1e-16)); + } -// } + { + EXPECT_ANY_THROW(RotationMatrix::RZ(Angle::Undefined())); + } +} -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RX) -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RY) -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RZ) +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Rows) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::Rows({1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0})); + } -// TEST (OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Quaternion) -// { + { + const RotationMatrix rotationMatrix = RotationMatrix::Rows({0.0, 1.0, 0.0}, {-1.0, 0.0, 0.0}, {0.0, 0.0, 1.0}); -// using ostk::core::type::Real ; -// using ostk::mathematics::geometry::Angle ; -// using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion ; -// using ostk::mathematics::geometry::d3::transformation::rotation::RotationMatrix ; + EXPECT_EQ(Vector3d(0.0, 1.0, 0.0), rotationMatrix.getRowAt(0)); + EXPECT_EQ(Vector3d(-1.0, 0.0, 0.0), rotationMatrix.getRowAt(1)); + EXPECT_EQ(Vector3d(0.0, 0.0, 1.0), rotationMatrix.getRowAt(2)); + } +} -// { +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Columns) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::Columns({1.0, 0.0, 0.0}, {0.0, 1.0, 0.0}, {0.0, 0.0, 1.0})); + } + + { + const RotationMatrix rotationMatrix = + RotationMatrix::Columns({0.0, 1.0, 0.0}, {-1.0, 0.0, 0.0}, {0.0, 0.0, 1.0}); + + EXPECT_EQ(Vector3d(0.0, 1.0, 0.0), rotationMatrix.getColumnAt(0)); + EXPECT_EQ(Vector3d(-1.0, 0.0, 0.0), rotationMatrix.getColumnAt(1)); + EXPECT_EQ(Vector3d(0.0, 0.0, 1.0), rotationMatrix.getColumnAt(2)); + } +} -// EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::Quaternion(Quaternion::Unit())) ; +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, Quaternion) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::Quaternion(Quaternion::Unit())); + } -// EXPECT_EQ(RotationMatrix({ 0.0, 0.0, 1.0 }, Angle::Degrees(180.0)), -// RotationMatrix::Quaternion(Quaternion::XYZS(0.0, 0.0, 1.0, 0.0))) ; + { + // TBI + } -// } + { + EXPECT_ANY_THROW(RotationMatrix::Quaternion(Quaternion::Undefined())); + } +} -// { +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, RotationVector) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::RotationVector(RotationVector::Unit())); + } -// EXPECT_ANY_THROW(RotationMatrix::Quaternion(Quaternion::Undefined())) ; + { + // TBI + } -// } + { + EXPECT_ANY_THROW(RotationMatrix::RotationVector(RotationVector::Undefined())); + } +} -// } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationMatrix, EulerAngle) +{ + { + EXPECT_EQ(RotationMatrix::Unit(), RotationMatrix::EulerAngle(EulerAngle::Unit())); + } + + // XYZ + + { + // TBI + } + + // ZXY + + { + // TBI + } + + // ZYX + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationMatrix-EulerAngle-ZYX.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-10; + + for (const auto& referenceDataRow : referenceDataTable) + { + const Vector3d x = + Vector3d( + referenceDataRow[0].accessReal(), referenceDataRow[1].accessReal(), referenceDataRow[2].accessReal() + ) + .normalized(); + + Vector3d y = + Vector3d( + referenceDataRow[3].accessReal(), referenceDataRow[4].accessReal(), referenceDataRow[5].accessReal() + ) + .normalized(); + + const Vector3d z = x.cross(y); + + // Ensure that the y-axis is orthogonal to the x-axis + y = z.cross(x); + + const RotationMatrix referenceRotationMatrix = RotationMatrix::Rows(x, y, z); + + const EulerAngle eulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[9].accessReal()), + Angle::Radians(referenceDataRow[10].accessReal()), + Angle::Radians(referenceDataRow[11].accessReal()) + ); + + const RotationMatrix rotationMatrix = RotationMatrix::EulerAngle(eulerAngle); + + EXPECT_TRUE(rotationMatrix.getRowAt(0).isApprox(referenceRotationMatrix.getRowAt(0), tolerance)) + << String::Format( + "{} / {}", rotationMatrix.getRowAt(0).toString(), referenceRotationMatrix.getRowAt(0).toString() + ); + EXPECT_TRUE(rotationMatrix.getRowAt(1).isApprox(referenceRotationMatrix.getRowAt(1), tolerance)) + << String::Format( + "{} / {}", rotationMatrix.getRowAt(1).toString(), referenceRotationMatrix.getRowAt(1).toString() + ); + EXPECT_TRUE(rotationMatrix.getRowAt(2).isApprox(referenceRotationMatrix.getRowAt(2), tolerance)) + << String::Format( + "{} / {}", rotationMatrix.getRowAt(2).toString(), referenceRotationMatrix.getRowAt(2).toString() + ); + } + } + + { + EXPECT_ANY_THROW(RotationMatrix::EulerAngle(EulerAngle::Undefined())); + } +} diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationVector.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationVector.test.cpp index f4be1ef2..f4b8d97f 100644 --- a/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationVector.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationVector.test.cpp @@ -1,27 +1,47 @@ /// Apache License 2.0 +#include +#include + +#include #include #include #include #include +using ostk::core::type::Real; +using ostk::core::type::String; +using ostk::core::filesystem::Path; +using ostk::core::filesystem::File; +using ostk::core::container::Table; + +using ostk::mathematics::object::Vector3d; using ostk::mathematics::geometry::Angle; using ostk::mathematics::geometry::d3::transformation::rotation::Quaternion; using ostk::mathematics::geometry::d3::transformation::rotation::RotationVector; -using ostk::mathematics::object::Vector3d; -using ostk::core::type::Real; +using ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle; TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationVector, Constructor) { { - EXPECT_NO_THROW(RotationVector({0.0, 0.0, 1.0}, Angle::Degrees(45.0))); - RotationVector rotationVector = {{0.0, 0.0, 1.0}, Angle::Degrees(45.0)}; EXPECT_TRUE(rotationVector.isDefined()); } + { + RotationVector rotationVector = {{0.0, 0.0, 1.0}, Angle::Unit::Degree}; + + EXPECT_TRUE(rotationVector.isDefined()); + } + + { + RotationVector rotationVector = {{0.0, 0.0, 0.0}, Angle::Unit::Degree}; + + EXPECT_TRUE(rotationVector.isDefined()); + } + { EXPECT_ANY_THROW(RotationVector({0.0, 0.0, 0.9}, Angle::Degrees(45.0))); EXPECT_ANY_THROW(RotationVector({0.0, 0.0, 1.1}, Angle::Degrees(45.0))); @@ -265,6 +285,35 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationVe } } +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationVector, Rectify) +{ + { + EXPECT_EQ( + RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(0.0)), + RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(0.0)).rectify() + ); + + EXPECT_EQ( + RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(0.0)), + RotationVector({-1.0, 0.0, 0.0}, Angle::Degrees(0.0)).rectify() + ); + + EXPECT_EQ( + RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(45.0)), + RotationVector({-1.0, 0.0, 0.0}, Angle::Degrees(-45.0)).rectify() + ); + + EXPECT_EQ( + RotationVector({-1.0, 0.0, 0.0}, Angle::Degrees(180.0 - 45.0)), + RotationVector({1.0, 0.0, 0.0}, Angle::Degrees(180.0 + 45.0)).rectify() + ); + } + + { + EXPECT_ANY_THROW(RotationVector::Undefined().rectify()); + } +} + TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationVector, Undefined) { { @@ -496,3 +545,146 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationVe EXPECT_ANY_THROW(RotationVector::Quaternion(Quaternion::Undefined())); } } + +TEST(OpenSpaceToolkit_Mathematics_Geometry_3D_Transformation_Rotation_RotationVector, EulerAngle) +{ + { + EXPECT_EQ(RotationVector::Unit(), RotationVector::EulerAngle(EulerAngle::Unit())); + } + + // XYZ + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationVector-EulerAngle-XYZ.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-9; + const Angle angularTolerance = Angle::Degrees(1e-9); + + for (const auto& referenceDataRow : referenceDataTable) + { + const RotationVector referenceRotationVector = RotationVector( + Vector3d( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal() + ), + Angle::Unit::Radian + ) + .rectify(); + + const EulerAngle eulerAngle = EulerAngle::XYZ( + Angle::Radians(referenceDataRow[3].accessReal()), + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()) + ); + + const RotationVector rotationVector = RotationVector::EulerAngle(eulerAngle).rectify(); + + EXPECT_TRUE(rotationVector.getAxis().isApprox(referenceRotationVector.getAxis(), tolerance)) + << String::Format( + "{} / {}", referenceRotationVector.getAxis().toString(), rotationVector.getAxis().toString() + ); + EXPECT_TRUE(rotationVector.getAngle().isNear(referenceRotationVector.getAngle(), angularTolerance)) + << String::Format( + "{} / {}", referenceRotationVector.getAngle().toString(), rotationVector.getAngle().toString() + ); + } + } + + // ZXY + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationVector-EulerAngle-ZXY.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-9; + const Angle angularTolerance = Angle::Degrees(1e-9); + + for (const auto& referenceDataRow : referenceDataTable) + { + const RotationVector referenceRotationVector = RotationVector( + Vector3d( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal() + ), + Angle::Unit::Radian + ) + .rectify(); + + const EulerAngle eulerAngle = EulerAngle::ZXY( + Angle::Radians(referenceDataRow[3].accessReal()), + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()) + ); + + const RotationVector rotationVector = RotationVector::EulerAngle(eulerAngle).rectify(); + + EXPECT_TRUE(rotationVector.getAxis().isApprox(referenceRotationVector.getAxis(), tolerance)) + << String::Format( + "{} / {}", referenceRotationVector.getAxis().toString(), rotationVector.getAxis().toString() + ); + EXPECT_TRUE(rotationVector.getAngle().isNear(referenceRotationVector.getAngle(), angularTolerance)) + << String::Format( + "{} / {}", referenceRotationVector.getAngle().toString(), rotationVector.getAngle().toString() + ); + } + } + + // ZYX + + { + const Table referenceDataTable = Table::Load( + File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/" + "EulerAngle/RotationVector-EulerAngle-ZYX.csv")), + Table::Format::CSV, + true + ); + + const Real tolerance = 1e-9; + const Angle angularTolerance = Angle::Degrees(1e-9); + + for (const auto& referenceDataRow : referenceDataTable) + { + const RotationVector referenceRotationVector = RotationVector( + Vector3d( + referenceDataRow[0].accessReal(), + referenceDataRow[1].accessReal(), + referenceDataRow[2].accessReal() + ), + Angle::Unit::Radian + ) + .rectify(); + + const EulerAngle eulerAngle = EulerAngle::ZYX( + Angle::Radians(referenceDataRow[3].accessReal()), + Angle::Radians(referenceDataRow[4].accessReal()), + Angle::Radians(referenceDataRow[5].accessReal()) + ); + + const RotationVector rotationVector = RotationVector::EulerAngle(eulerAngle).rectify(); + + EXPECT_TRUE(rotationVector.getAxis().isApprox(referenceRotationVector.getAxis(), tolerance)) + << String::Format( + "{} / {}", referenceRotationVector.getAxis().toString(), rotationVector.getAxis().toString() + ); + EXPECT_TRUE(rotationVector.getAngle().isNear(referenceRotationVector.getAngle(), angularTolerance)) + << String::Format( + "{} / {}", referenceRotationVector.getAngle().toString(), rotationVector.getAngle().toString() + ); + } + } + + { + EXPECT_ANY_THROW(RotationVector::EulerAngle(EulerAngle::Undefined())); + } +} diff --git a/test/OpenSpaceToolkit/Mathematics/Geometry/Angle.test.cpp b/test/OpenSpaceToolkit/Mathematics/Geometry/Angle.test.cpp index e59aba29..6b90dc0a 100644 --- a/test/OpenSpaceToolkit/Mathematics/Geometry/Angle.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Geometry/Angle.test.cpp @@ -684,6 +684,60 @@ TEST(OpenSpaceToolkit_Mathematics_Geometry_Angle, IsZero) } } +TEST(OpenSpaceToolkit_Mathematics_Geometry_Angle, IsNegative) +{ + { + EXPECT_FALSE(Angle(0.0, Angle::Unit::Radian).isNegative()); + EXPECT_FALSE(Angle(0.0, Angle::Unit::Degree).isNegative()); + EXPECT_FALSE(Angle(0.0, Angle::Unit::Arcminute).isNegative()); + EXPECT_FALSE(Angle(0.0, Angle::Unit::Arcsecond).isNegative()); + EXPECT_FALSE(Angle(0.0, Angle::Unit::Revolution).isNegative()); + + EXPECT_FALSE(Angle(+0.0, Angle::Unit::Radian).isNegative()); + EXPECT_FALSE(Angle(-0.0, Angle::Unit::Radian).isNegative()); + + EXPECT_FALSE(Angle(+1.0, Angle::Unit::Radian).isNegative()); + EXPECT_TRUE(Angle(-1.0, Angle::Unit::Radian).isNegative()); + + EXPECT_FALSE(Angle(+1e-9, Angle::Unit::Radian).isNegative()); + EXPECT_TRUE(Angle(-1e-9, Angle::Unit::Radian).isNegative()); + } + + { + EXPECT_ANY_THROW(Angle::Undefined().isNegative()); + EXPECT_ANY_THROW(Angle(Real::Undefined(), Angle::Unit::Radian).isNegative()); + EXPECT_ANY_THROW(Angle(1.0, Angle::Unit::Undefined).isNegative()); + } +} + +TEST(OpenSpaceToolkit_Mathematics_Geometry_Angle, IsNear) +{ + { + EXPECT_TRUE(Angle::Radians(0.0).isNear(Angle::Radians(0.0), Angle::Zero())); + EXPECT_TRUE(Angle::Degrees(0.0).isNear(Angle::Radians(0.0), Angle::Zero())); + EXPECT_TRUE(Angle::Arcseconds(0.0).isNear(Angle::Radians(0.0), Angle::Zero())); + } + + { + EXPECT_TRUE(Angle::Degrees(0.0).isNear(Angle::Degrees(0.0), Angle::Degrees(1.0))); + EXPECT_TRUE(Angle::Degrees(0.0).isNear(Angle::Degrees(1.0), Angle::Degrees(1.0))); + EXPECT_TRUE(Angle::Degrees(1.0).isNear(Angle::Degrees(0.0), Angle::Degrees(1.0))); + EXPECT_TRUE(Angle::Degrees(-1.0).isNear(Angle::Degrees(0.0), Angle::Degrees(1.0))); + EXPECT_TRUE(Angle::Degrees(0.0).isNear(Angle::Degrees(-1.0), Angle::Degrees(1.0))); + + EXPECT_FALSE(Angle::Degrees(0.0).isNear(Angle::Degrees(2.0), Angle::Degrees(1.0))); + EXPECT_FALSE(Angle::Degrees(2.0).isNear(Angle::Degrees(0.0), Angle::Degrees(1.0))); + EXPECT_FALSE(Angle::Degrees(-2.0).isNear(Angle::Degrees(0.0), Angle::Degrees(1.0))); + EXPECT_FALSE(Angle::Degrees(0.0).isNear(Angle::Degrees(-2.0), Angle::Degrees(1.0))); + } + + { + EXPECT_ANY_THROW(Angle::Undefined().isNear(Angle::Zero(), Angle::Zero())); + EXPECT_ANY_THROW(Angle::Zero().isNear(Angle::Undefined(), Angle::Zero())); + EXPECT_ANY_THROW(Angle::Zero().isNear(Angle::Zero(), Angle::Undefined())); + } +} + TEST(OpenSpaceToolkit_Mathematics_Geometry_Angle, GetUnit) { { diff --git a/test/OpenSpaceToolkit/Mathematics/Object/Interval.test.cpp b/test/OpenSpaceToolkit/Mathematics/Object/Interval.test.cpp index e74fd504..a01b2ffe 100644 --- a/test/OpenSpaceToolkit/Mathematics/Object/Interval.test.cpp +++ b/test/OpenSpaceToolkit/Mathematics/Object/Interval.test.cpp @@ -1225,11 +1225,9 @@ TEST(OpenSpaceToolkit_Mathematics_Object_Interval, SetUpperBound) TEST(OpenSpaceToolkit_Mathematics_Object_Interval, Undefined) { - using ostk::core::type::Real; using ostk::mathematics::object::Interval; - { EXPECT_NO_THROW(Interval::Undefined()); @@ -1239,11 +1237,9 @@ TEST(OpenSpaceToolkit_Mathematics_Object_Interval, Undefined) TEST(OpenSpaceToolkit_Mathematics_Object_Interval, Closed) { - using ostk::core::type::Real; using ostk::mathematics::object::Interval; - { EXPECT_NO_THROW(Interval::Closed(0.0, 1.0)); @@ -1255,11 +1251,9 @@ TEST(OpenSpaceToolkit_Mathematics_Object_Interval, Closed) TEST(OpenSpaceToolkit_Mathematics_Object_Interval, Open) { - using ostk::core::type::Real; using ostk::mathematics::object::Interval; - { EXPECT_NO_THROW(Interval::Open(0.0, 1.0)); @@ -1271,11 +1265,9 @@ TEST(OpenSpaceToolkit_Mathematics_Object_Interval, Open) TEST(OpenSpaceToolkit_Mathematics_Object_Interval, HalfOpenLeft) { - using ostk::core::type::Real; using ostk::mathematics::object::Interval; - { EXPECT_NO_THROW(Interval::HalfOpenLeft(0.0, 1.0)); @@ -1287,11 +1279,9 @@ TEST(OpenSpaceToolkit_Mathematics_Object_Interval, HalfOpenLeft) TEST(OpenSpaceToolkit_Mathematics_Object_Interval, HalfOpenRight) { - using ostk::core::type::Real; using ostk::mathematics::object::Interval; - { EXPECT_NO_THROW(Interval::HalfOpenRight(0.0, 1.0));