59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include "gazebo/math/Helpers.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Quaternion.hh"
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#include "gazebo/math/RotationSpline.hh"
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using namespace gazebo;
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class RotationSplineTest : public ::testing::Test { };
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TEST_F(RotationSplineTest, RotationSpline)
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{
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math::RotationSpline s;
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s.AddPoint(math::Quaternion(0, 0, 0));
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EXPECT_EQ(static_cast<unsigned int>(1), s.GetNumPoints());
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s.Clear();
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EXPECT_EQ(static_cast<unsigned int>(0), s.GetNumPoints());
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s.AddPoint(math::Quaternion(0, 0, 0));
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EXPECT_TRUE(s.GetPoint(0) == math::Quaternion(0, 0, 0));
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s.AddPoint(math::Quaternion(.1, .1, .1));
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EXPECT_TRUE(s.GetPoint(1) == math::Quaternion(.1, .1, .1));
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// ::UpdatePoint
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s.UpdatePoint(1, math::Quaternion(.2, .2, .2));
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s.SetAutoCalculate(false);
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s.UpdatePoint(0, math::Vector3(-.1, -.1, -.1));
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s.SetAutoCalculate(true);
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// ::Interpolate
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EXPECT_TRUE(s.Interpolate(0.5) ==
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math::Quaternion(0.998089, 0.0315333, 0.0427683, 0.0315333));
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// ::Interpolate
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s.AddPoint(math::Quaternion(.4, .4, .4));
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EXPECT_TRUE(s.Interpolate(1, 0.2) ==
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math::Quaternion(0.978787, 0.107618, 0.137159, 0.107618));
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}
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