VectorTests.cpp File Reference

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

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

Classes
class	VectorTestBase< T >
class	Vector2Tests< T >
class	Vector3Tests< T >
class	Vector4Tests< T >
class	Vector6Tests< T >
class	AllVectorTests< T >
class	AllDynamicVectorTests< T >
class	UnalignedVectorTests< T >
class	UnalignedDynamicVectorTests< T >

Typedefs
typedef ::testing::Types< SurgSim::Math::Vector2d, SurgSim::Math::Vector2f >	Vector2Variants
typedef ::testing::Types< SurgSim::Math::Vector3d, SurgSim::Math::Vector3f >	Vector3Variants
typedef ::testing::Types< SurgSim::Math::Vector4d, SurgSim::Math::Vector4f >	Vector4Variants
typedef ::testing::Types< SurgSim::Math::Vector6d, SurgSim::Math::Vector6f >	Vector6Variants
typedef ::testing::Types< SurgSim::Math::Vector2d, SurgSim::Math::Vector2f, SurgSim::Math::Vector3d, SurgSim::Math::Vector3f, SurgSim::Math::Vector4d, SurgSim::Math::Vector4f, SurgSim::Math::Vector6d, SurgSim::Math::Vector6f >	AllVectorVariants
typedef ::testing::Types< Eigen::VectorXd, Eigen::VectorXf, SurgSim::Math::Vector >	AllDynamicVectorVariants
typedef ::testing::Types< SurgSim::Math::Vector2d, SurgSim::Math::Vector2f, SurgSim::Math::Vector3d, SurgSim::Math::Vector3f, SurgSim::Math::Vector4d, SurgSim::Math::Vector4f, SurgSim::Math::Vector6d, SurgSim::Math::Vector6f >	UnalignedVectorVariants
typedef ::testing::Types< Eigen::VectorXd, Eigen::VectorXf, SurgSim::Math::Vector >	UnalignedDynamicVectorVariants

Functions
	TYPED_TEST_CASE (Vector2Tests, Vector2Variants)
	TYPED_TEST_CASE (Vector3Tests, Vector3Variants)
	TYPED_TEST_CASE (Vector4Tests, Vector4Variants)
	TYPED_TEST_CASE (Vector6Tests, Vector6Variants)
	TYPED_TEST_CASE (AllVectorTests, AllVectorVariants)
	TYPED_TEST_CASE (AllDynamicVectorTests, AllDynamicVectorVariants)
	TYPED_TEST_CASE (UnalignedVectorTests, UnalignedVectorVariants)
	TYPED_TEST_CASE (UnalignedDynamicVectorTests, UnalignedDynamicVectorVariants)
	TYPED_TEST (Vector2Tests, CanConstruct)
	Test that vectors can be constructed.
	TYPED_TEST (Vector3Tests, CanConstruct)
	Test that vectors can be constructed.
	TYPED_TEST (Vector4Tests, CanConstruct)
	Test that vectors can be constructed.
	TYPED_TEST (Vector2Tests, NArgumentConstructorInitialization)
	Test that the N-argument constructor properly initializes vectors.
	TYPED_TEST (Vector3Tests, NArgumentConstructorInitialization)
	Test that the N-argument constructor properly initializes vectors.
	TYPED_TEST (Vector4Tests, NArgumentConstructorInitialization)
	Test that the N-argument constructor properly initializes vectors.
	TYPED_TEST (UnalignedVectorTests, DefaultConstructorInitialization)
	Test that the default constructor DOESN'T initialize vectors.
	TYPED_TEST (Vector2Tests, ShiftCommaInitialization)
	Test setting the vector using the << syntax.
	TYPED_TEST (Vector3Tests, ShiftCommaInitialization)
	Test setting the vector using the << syntax.
	TYPED_TEST (Vector4Tests, ShiftCommaInitialization)
	Test setting the vector using the << syntax.
	TYPED_TEST (Vector6Tests, ShiftCommaInitialization)
	Test setting the vector using the << syntax.
	TYPED_TEST (AllVectorTests, ZeroValue)
	Test getting a zero value usable in expressions.
	TYPED_TEST (AllVectorTests, SetToZero)
	Test setting vectors to 0.
	TYPED_TEST (AllVectorTests, ConstantValue)
	Test getting a constant value usable in expressions.
	TYPED_TEST (AllVectorTests, SetToConstant)
	Test setting vectors to a constant.
	TYPED_TEST (AllVectorTests, SetFromArray)
	Test initializing from a float array.
	TYPED_TEST (AllVectorTests, YamlConvert)
	TYPED_TEST (AllVectorTests, Assign)
	Test assignment.
	TYPED_TEST (AllVectorTests, Negate)
	Negation (unary minus).
	TYPED_TEST (AllVectorTests, Add)
	Addition.
	TYPED_TEST (AllVectorTests, Subtract)
	Subtraction.
	TYPED_TEST (AllVectorTests, AddTo)
	Incrementing by a value.
	TYPED_TEST (AllVectorTests, SubtractFrom)
	Decrementing by a value.
	TYPED_TEST (AllVectorTests, MultiplyVectorScalar)
	Vector-scalar multiplication.
	TYPED_TEST (AllVectorTests, MultiplyScalarVector)
	Scalar-vector multiplication.
	TYPED_TEST (AllVectorTests, DivideScalar)
	Division by scalar.
	TYPED_TEST (AllVectorTests, ComponentwiseMultiply)
	Component-wise multiplication.
	TYPED_TEST (AllVectorTests, ComponentwiseDivide)
	Component-wise division.
	TYPED_TEST (AllVectorTests, DotProduct)
	Dot product.
	TYPED_TEST (Vector3Tests, CrossProduct)
	Cross product.
	TYPED_TEST (AllVectorTests, OuterProduct)
	Outer product.
	TYPED_TEST (AllVectorTests, NormAndSquared)
	Euclidean norm and its square.
	TYPED_TEST (AllVectorTests, L1NormAndLInfNorm)
	L1 (Manhattan) norm and L_Infinity (largest absolute value) norm.
	TYPED_TEST (AllVectorTests, Normalize)
	Normalization of vectors.
	TYPED_TEST (AllVectorTests, MinAndMax)
	Minimum and maximum elements.
	TYPED_TEST (Vector2Tests, Extend2to3)
	Extending vectors using the head<r>() syntax.
	TYPED_TEST (Vector2Tests, DynamicExtend2to3)
	Extending vectors using the head(r) syntax.
	TYPED_TEST (Vector2Tests, BlockExtend2to3)
	Extending vectors using the block<r,c>() syntax.
	TYPED_TEST (Vector2Tests, DynamicBlockExtend2to3)
	Extending vectors using the block(i,j,r,c) syntax.
	TYPED_TEST (Vector2Tests, Shrink3to2)
	Shrinking vectors using the head<r>() syntax.
	TYPED_TEST (Vector3Tests, Extend2to3)
	Extending vectors using the head<r>() syntax.
	TYPED_TEST (Vector3Tests, Shrink3to2)
	Shrinking vectors using the head<r>() syntax.
	TYPED_TEST (Vector3Tests, Extend3to4)
	Extending vectors using the head<r>() syntax.
	TYPED_TEST (Vector3Tests, Shrink4to3)
	Shrinking vectors using the head<r>() syntax.
	TYPED_TEST (Vector4Tests, Extend3to4)
	Extending vectors using the head<r>() syntax.
	TYPED_TEST (Vector4Tests, Shrink4to3)
	Shrinking vectors using the head<r>() syntax.
	TYPED_TEST (AllVectorTests, HomogeneousExtend)
	Extend Euclidean N-vector [a_i] to homogeneous (N+1)-vector [a_i 1].
	TYPED_TEST (AllVectorTests, HomogeneousShrink)
	Shrink a homogeneous (N+1)-vector [a_i 1] to Euclidean N-vector [a_i]. More...
	TYPED_TEST (AllVectorTests, TypeCasting)
	Typecasting vectors (double <-> float conversions).
	TYPED_TEST (AllVectorTests, ArrayReadWrite)
	Reading from and writing to arrays or blocks of double/float in memory.
	TYPED_TEST (AllVectorTests, Interpolate)
	TYPED_TEST (AllDynamicVectorTests, CanResize)
	TYPED_TEST (AllDynamicVectorTests, addSubVector)
	TYPED_TEST (AllDynamicVectorTests, addSubVectorBlocks)
	TYPED_TEST (AllDynamicVectorTests, setSubVector)
	TYPED_TEST (AllDynamicVectorTests, getSubVector)
	TYPED_TEST (AllDynamicVectorTests, getSubVectorBlocks)
template<class Vector >
void	testOrthonormalBasis (const Vector &i, const Vector &j, const Vector &k)
	TYPED_TEST (Vector3Tests, buildOrthonormalBasis)
	TYPED_TEST (Vector3Tests, robustCrossProduct)

Detailed Description

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

Function Documentation

TYPED_TEST()

TYPED_TEST	(	AllVectorTests	,
		HomogeneousShrink
	)

Shrink a homogeneous (N+1)-vector [a_i 1] to Euclidean N-vector [a_i].

Note that if the last element is not 1, the result will be divided by it, which is helpful in projective geometry but may not be what you wanted!