Merge pull request #11 from open-space-collective/dev@lucas

Dev@lucas
open-space-collective · Sep 4, 2018 · d755fa1 · d755fa1
2 parents 50cf3d3 + 00294a9
commit d755fa1
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diff --git a/include/Library/Mathematics/Geometry/Transformations/Rotations/RotationVector.hpp b/include/Library/Mathematics/Geometry/Transformations/Rotations/RotationVector.hpp
@@ -12,6 +12,7 @@
 
 #include <Library/Mathematics/Geometry/Angle.hpp>
 #include <Library/Mathematics/Objects/Vector.hpp>
+
 #include <Library/Core/Types/String.hpp>
 #include <Library/Core/Types/Real.hpp>
 
@@ -32,6 +33,7 @@ namespace rot
 
 using library::core::types::Real ;
 using library::core::types::String ;
+
 using library::math::obj::Vector3d ;
 using library::math::geom::Angle ;
 
@@ -116,6 +118,17 @@ class RotationVector
 
         Angle                   getAngle                                    ( ) const ;
 
+        /// @brief              Convert rotation vector to its 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]"
+        /// @endcode
+        ///
+        /// @param              [in] (optional) aPrecision A precision
+        /// @return             String representation
+
+        String                  toString                                    (   const   Integer&                    aPrecision                                  =   Integer::Undefined() ) const ;
+
         /// @brief              Constructs an undefined rotation vector
         ///
         /// @code

diff --git a/share/python/src/LibraryMathematicsPy/Geometry/Transformations/Rotations/RotationVector.cpp b/share/python/src/LibraryMathematicsPy/Geometry/Transformations/Rotations/RotationVector.cpp
@@ -37,8 +37,9 @@ inline void                     LibraryMathematicsPy_Geometry_Transformations_Ro
 
         .def("getAxis", &RotationVector::getAxis)
         .def("getAngle", &RotationVector::getAngle)
-        .def("Undefined", &RotationVector::Undefined)
+        .def("toString", &RotationVector::toString)
 
+        .def("Undefined", &RotationVector::Undefined)
         .def("Unit", &RotationVector::Unit).staticmethod("Unit")
         .def("Quaternion", &RotationVector::Quaternion).staticmethod("Quaternion")
         .def("RotationMatrix", &RotationVector::RotationMatrix).staticmethod("RotationMatrix")

diff --git a/src/Library/Mathematics/Geometry/Transformations/Rotations/RotationVector.cpp b/src/Library/Mathematics/Geometry/Transformations/Rotations/RotationVector.cpp
@@ -112,6 +112,18 @@ Angle                           RotationVector::getAngle                    ( )
 
 }
 
+String                          RotationVector::toString                    (   const   Integer&                    aPrecision                                  ) const
+{
+
+    if (!this->isDefined())
+    {
+        throw library::core::error::runtime::Undefined("Rotation vector") ;
+    }
+
+    return String::Format("{} : {}", (aPrecision.isDefined() ? axis_.toString(aPrecision) : axis_.toString()), angle_.toString(aPrecision)) ;
+
+}
+
 RotationVector                  RotationVector::Undefined                   ( )
 {
     return RotationVector() ;

diff --git a/test/Library/Mathematics/Geometry/Transformations/Rotations/RotationVector.test.cpp b/test/Library/Mathematics/Geometry/Transformations/Rotations/RotationVector.test.cpp
@@ -209,6 +209,50 @@ TEST (Library_Mathematics_Geometry_Transformations_Rotations_RotationVector, Get
 
 }
 
+TEST (Library_Mathematics_Geometry_Transformations_Rotations_RotationVector, ToString)
+{
+
+    using library::math::geom::Angle ;
+    using library::math::geom::trf::rot::RotationVector ;
+
+    {
+
+        EXPECT_EQ("[1.0, 0.0, 0.0] : 0.0 [deg]", RotationVector({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)).toString()) ;
+
+        EXPECT_EQ("[0.0, 0.0, 1.0] : -30.0 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(-30.0)).toString()) ;
+        EXPECT_EQ("[0.0, 0.0, 1.0] : 30.0 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(+30.0)).toString()) ;
+
+        EXPECT_EQ("[0.0, 0.0, 1.0] : -90.0 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(-90.0)).toString()) ;
+        EXPECT_EQ("[0.0, 0.0, 1.0] : 90.0 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(+90.0)).toString()) ;
+
+        EXPECT_EQ("[0.0, 0.0, 1.0] : -180.0 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(-180.0)).toString()) ;
+        EXPECT_EQ("[0.0, 0.0, 1.0] : 180.0 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(+180.0)).toString()) ;
+
+    }
+
+    {
+
+        EXPECT_EQ("[1.000, 0.000, 0.000] : 0.000 [deg]", RotationVector({ 1.0, 0.0, 0.0 }, Angle::Degrees(0.0)).toString(3)) ;
+
+        EXPECT_EQ("[0.000, 0.000, 1.000] : -30.000 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(-30.0)).toString(3)) ;
+        EXPECT_EQ("[0.000, 0.000, 1.000] : 30.000 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(+30.0)).toString(3)) ;
+
+        EXPECT_EQ("[0.000, 0.000, 1.000] : -90.000 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(-90.0)).toString(3)) ;
+        EXPECT_EQ("[0.000, 0.000, 1.000] : 90.000 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(+90.0)).toString(3)) ;
+
+        EXPECT_EQ("[0.000, 0.000, 1.000] : -180.000 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(-180.0)).toString(3)) ;
+        EXPECT_EQ("[0.000, 0.000, 1.000] : 180.000 [deg]", RotationVector({ 0.0, 0.0, 1.0 }, Angle::Degrees(+180.0)).toString(3)) ;
+
+    }
+
+    {
+
+        EXPECT_ANY_THROW(RotationVector::Undefined().toString()) ;
+
+    }
+
+}
+
 TEST (Library_Mathematics_Geometry_Transformations_Rotations_RotationVector, Undefined)
 {