Tests that exercise the functionality of our quaternion typedefs, which come straight from Eigen. More...

#include <math.h>
#include "SurgSim/Math/Quaternion.h"
#include "SurgSim/Math/MathConvert.h"
#include "gtest/gtest.h"

Classes
class	QuaternionTests< T >

class	UnalignedQuaternionTests< T >

Typedefs
typedef ::testing::Types< SurgSim::Math::Quaterniond, SurgSim::Math::Quaternionf >	QuaternionVariants

typedef ::testing::Types< SurgSim::Math::Quaterniond, SurgSim::Math::Quaternionf >	UnalignedQuaternionVariants

Functions
	TYPED_TEST_CASE (QuaternionTests, QuaternionVariants)

	TYPED_TEST_CASE (UnalignedQuaternionTests, UnalignedQuaternionVariants)

	TYPED_TEST (QuaternionTests, CanConstruct)
	Test that quaternions can be constructed.

	TYPED_TEST (QuaternionTests, ConstructorInitialization)
	Test that the constructor properly initializes quaternions in the WXYZ order.

	TYPED_TEST (QuaternionTests, InitializeFromVector4)
	Test setting the quaternion from a 4D vector. More...

	TYPED_TEST (QuaternionTests, InitializeFromArray)
	Test initializing from a float array. More...

	TYPED_TEST (QuaternionTests, IdentityValue)
	Test getting an identity value usable in expressions.

	TYPED_TEST (QuaternionTests, SetToIdentity)
	Test setting quaternions to identity.

	TYPED_TEST (QuaternionTests, ZeroValue)
	Test getting a zero value usable in expressions. More...

	TYPED_TEST (QuaternionTests, SetToZero)
	Test setting quaternions to zero. More...

	TYPED_TEST (QuaternionTests, YamlConvert)

	TYPED_TEST (QuaternionTests, FromAngleAxis)
	Test setting quaternions from an angle/axis rotation.

template<class T >
void	testAngleAxis (const Eigen::Quaternion< T > &q, const Eigen::AngleAxis< T > &expectedAA, bool expectNegatedQuatOppositeAxis=false)

	TYPED_TEST (QuaternionTests, ToAngleAxis)
	Test extracting an angle/axis rotation from a quaternion.

	TYPED_TEST (QuaternionTests, FromMatrix)
	Test setting a quaternion from a matrix.

	TYPED_TEST (QuaternionTests, ToMatrix)
	Test setting a matrix from a quaternion.

	TYPED_TEST (QuaternionTests, Conjugate)
	Test quaternion conjugate.

	TYPED_TEST (QuaternionTests, Inverse)
	Test quaternion inverse.

	TYPED_TEST (QuaternionTests, ApplyToVector)
	Test quaternion rotation of vectors.

	TYPED_TEST (QuaternionTests, NormAndSquared)
	Quaternion norm and its square.

	TYPED_TEST (QuaternionTests, Normalize)
	Normalization of quaternions.

	TYPED_TEST (QuaternionTests, TypeCasting)
	Typecasting quaternions (double <-> float conversions).

	TYPED_TEST (QuaternionTests, ArrayReadWrite)
	Reading from and writing to arrays or blocks of double/float in memory.

	TYPED_TEST (QuaternionTests, Negate)
	Test quaternion negation.

	TYPED_TEST (QuaternionTests, SlerpInterpolation)
	Test quaternion interpolation.

Detailed Description

Tests that exercise the functionality of our quaternion typedefs, which come straight from Eigen.

Function Documentation

§ TYPED_TEST() [1/4]

TYPED_TEST	(	QuaternionTests	,
		InitializeFromVector4
	)

Test setting the quaternion from a 4D vector.

The order of components is XYZW (not WXYZ), which is why doing this may be confusing.

§ TYPED_TEST() [2/4]

TYPED_TEST	(	QuaternionTests	,
		InitializeFromArray
	)

Test initializing from a float array.

The order of components is XYZW (not WXYZ), which is why doing this may be confusing.

§ TYPED_TEST() [3/4]

TYPED_TEST	(	QuaternionTests	,
		ZeroValue
	)

Test getting a zero value usable in expressions.

Note: many "4D" operations are not defined on Eigen::Quaternion, but can be performed on quaternion.coeffs().

§ TYPED_TEST() [4/4]

TYPED_TEST	(	QuaternionTests	,
		SetToZero
	)

Test setting quaternions to zero.