QuatExpMap.cpp File Reference

Implementation. More...

#include <osvr/Util/EigenQuatExponentialMap.h>
#include "../EigenTestHelpers.h"
#include "quat.h"
#include "gtest/gtest.h"
#include <array>

Classes
class	QuatCreator
class	UnitQuatInput
class	ExpMapVecInput
class	EquivalentInput

Macros
#define	OSVR_CAN_USE_PARAMETERIZED_TESTS

Typedefs
using	quat_array::array_type = std::array< double, 4 >
using	QuatVecPair = std::pair< QuatCreator, Eigen::Vector3d >

Functions
void	quat_array::set (array_type &arr, Eigen::Quaterniond const &quat)
array_type	quat_array::set (Eigen::Quaterniond const &quat)
void	quat_array::get (Eigen::Quaterniond &quat, array_type const &arr)
Eigen::Quaterniond	quat_array::get (array_type const &arr)
std::string	formatAngleAxis (double angle, Eigen::Vector3d const &axis)
inline ::std::ostream &	operator<< (::std::ostream &os, QuatCreator const &q)
QuatVecPair	makePairFromAngleAxis (double angle, Eigen::Vector3d const &axis)
inline ::std::ostream &	operator<< (::std::ostream &os, QuatVecPair const &q)
	TEST_P (UnitQuatInput, BasicRunLn)
	TEST_P (UnitQuatInput, RoundTripLn)
	TEST_P (UnitQuatInput, QuatlibRoundTripLn)
	INSTANTIATE_TEST_CASE_P (BasicQuats, UnitQuatInput, ::testing::Values(QuatCreator::Identity(), QuatCreator::AngleAxis(M_PI/2, Vector3d::UnitX()), QuatCreator::AngleAxis(M_PI/2, Vector3d::UnitY()), QuatCreator::AngleAxis(M_PI/2, Vector3d::UnitZ()), QuatCreator::AngleAxis(-M_PI/2, Vector3d::UnitX()), QuatCreator::AngleAxis(-M_PI/2, Vector3d::UnitY()), QuatCreator::AngleAxis(-M_PI/2, Vector3d::UnitZ())))
	INSTANTIATE_TEST_CASE_P (SmallQuats, UnitQuatInput, ::testing::Values(QuatCreator::AngleAxis(SMALL, Vector3d::UnitX()), QuatCreator::AngleAxis(SMALL, Vector3d::UnitY()), QuatCreator::AngleAxis(SMALL, Vector3d::UnitZ()), QuatCreator::AngleAxis(SMALLER, Vector3d::UnitX()), QuatCreator::AngleAxis(SMALLER, Vector3d::UnitY()), QuatCreator::AngleAxis(SMALLER, Vector3d::UnitZ())))
	INSTANTIATE_TEST_CASE_P (SmallNegativeQuats, UnitQuatInput, ::testing::Values(QuatCreator::AngleAxis(-SMALL, Vector3d::UnitX()), QuatCreator::AngleAxis(-SMALL, Vector3d::UnitY()), QuatCreator::AngleAxis(-SMALL, Vector3d::UnitZ()), QuatCreator::AngleAxis(-SMALLER, Vector3d::UnitX()), QuatCreator::AngleAxis(-SMALLER, Vector3d::UnitY()), QuatCreator::AngleAxis(-SMALLER, Vector3d::UnitZ())))
	TEST_P (ExpMapVecInput, BasicRunExp)
	TEST_P (ExpMapVecInput, RoundTripExp)
	TEST_P (ExpMapVecInput, QuatlibRoundTripExp)
	INSTANTIATE_TEST_CASE_P (BasicVecs, ExpMapVecInput, ::testing::Values(Vector3d::Zero(), Vector3d(M_PI/2, 0, 0), Vector3d(0, M_PI/2, 0), Vector3d(0, 0, M_PI/2), Vector3d(-M_PI/2, 0, 0), Vector3d(0, -M_PI/2, 0), Vector3d(0, 0, -M_PI/2)))
	INSTANTIATE_TEST_CASE_P (SmallVecs, ExpMapVecInput, ::testing::Values(Vector3d(SMALL, 0, 0), Vector3d(0, SMALL, 0), Vector3d(0, 0, SMALL), Vector3d(SMALLER, 0, 0), Vector3d(0, SMALLER, 0), Vector3d(0, 0, SMALLER)))
	INSTANTIATE_TEST_CASE_P (SmallNegativeVecs, ExpMapVecInput, ::testing::Values(Vector3d(-SMALL, 0, 0), Vector3d(0, -SMALL, 0), Vector3d(0, 0, -SMALL), Vector3d(-SMALLER, 0, 0), Vector3d(0, -SMALLER, 0), Vector3d(0, 0, -SMALLER)))
Quaterniond	makeQuat (double angle, Vector3d const &axis)
	TEST (SimpleEquivalencies, Ln)
	TEST (SimpleEquivalencies, Exp)
	TEST_P (EquivalentInput, DISABLED_Ln)
	TEST_P (EquivalentInput, LnCompareWithQuatlib)
	TEST_P (EquivalentInput, DISABLED_Exp)
	TEST_P (EquivalentInput, ExpCompareWithQuatlib)
	INSTANTIATE_TEST_CASE_P (HalfPiMultiples, EquivalentInput, ::testing::Values(makePairFromAngleAxis(M_PI/2, Vector3d::UnitX()), makePairFromAngleAxis(M_PI/2, Vector3d::UnitY()), makePairFromAngleAxis(M_PI/2, Vector3d::UnitZ()), makePairFromAngleAxis(-M_PI/2, Vector3d::UnitX()), makePairFromAngleAxis(-M_PI/2, Vector3d::UnitY()), makePairFromAngleAxis(-M_PI/2, Vector3d::UnitZ())))
	INSTANTIATE_TEST_CASE_P (SmallValues, EquivalentInput, ::testing::Values(makePairFromAngleAxis(SMALL, Vector3d::UnitX()), makePairFromAngleAxis(SMALL, Vector3d::UnitY()), makePairFromAngleAxis(SMALL, Vector3d::UnitZ()), makePairFromAngleAxis(SMALLER, Vector3d::UnitX()), makePairFromAngleAxis(SMALLER, Vector3d::UnitY()), makePairFromAngleAxis(SMALLER, Vector3d::UnitZ())))
	INSTANTIATE_TEST_CASE_P (SmallNegativeValues, EquivalentInput, ::testing::Values(makePairFromAngleAxis(-SMALL, Vector3d::UnitX()), makePairFromAngleAxis(-SMALL, Vector3d::UnitY()), makePairFromAngleAxis(-SMALL, Vector3d::UnitZ()), makePairFromAngleAxis(-SMALLER, Vector3d::UnitX()), makePairFromAngleAxis(-SMALLER, Vector3d::UnitY()), makePairFromAngleAxis(-SMALLER, Vector3d::UnitZ())))

Quatlib interaction utilities
Container for q_type that's C++-safe to pass around and such. To pass to quatlib functions, use the .data() member function.
using	QuatlibQuatArray = std::array< double, 4 >
QuatlibQuatArray	toQuatlib (Vector3d const &vec)
	Convert Eigen vector to a quatlib (pure: w = 0) quaternion, wrapped in an std::array. More...
QuatlibQuatArray	toQuatlib (Quaterniond const &q)
	Convert Eigen quat to a quatlib quaternion, wrapped in an std::array.
Quaterniond	quatFromQuatlib (QuatlibQuatArray const &arr)
	Takes a quatlib quaternion wrapped in an array and converts it to an Eigen::Quaterniond, no questions asked. More...
Vector3d	vecFromQuatlib (QuatlibQuatArray const &arr)
	Takes a quatlib quaternion wrapped in an array and converts it to an Eigen::Vector3d, no questions asked - assumes it's a pure quaternion (w=0) or that you just want the vector part. More...

Detailed Description

Implementation.

Date

2016

Author

Sensics, Inc. http://sensics.com/osvr

Macro Definition Documentation

OSVR_CAN_USE_PARAMETERIZED_TESTS

#define OSVR_CAN_USE_PARAMETERIZED_TESTS

Todo:

These cause link failures in Windows/DLL debug builds.

For now, just assume they're tested enough in release mode.

Function Documentation

quatFromQuatlib()

Quaterniond quatFromQuatlib ( QuatlibQuatArray const &  arr )

inline

Takes a quatlib quaternion wrapped in an array and converts it to an Eigen::Quaterniond, no questions asked.

TEST_P() [1/2]

TEST_P	(	EquivalentInput	,
		DISABLED_Ln
	)

Todo:

Test appears broken?

TEST_P() [2/2]

TEST_P	(	EquivalentInput	,
		DISABLED_Exp
	)

Todo:

Test appears broken?

toQuatlib()

QuatlibQuatArray toQuatlib ( Vector3d const &  vec )

inline

Convert Eigen vector to a quatlib (pure: w = 0) quaternion, wrapped in an std::array.

vecFromQuatlib()

Vector3d vecFromQuatlib ( QuatlibQuatArray const &  arr )

inline

Takes a quatlib quaternion wrapped in an array and converts it to an Eigen::Vector3d, no questions asked - assumes it's a pure quaternion (w=0) or that you just want the vector part.