93 lines
3.1 KiB
C++
93 lines
3.1 KiB
C++
// This file is part of Sophus.
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//
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// Copyright 2012-2013 Hauke Strasdat
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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#include <iostream>
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#include <vector>
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#include "rxso3.hpp"
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#include "tests.hpp"
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using namespace Sophus;
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using namespace std;
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template<class Scalar>
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void tests() {
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typedef RxSO3Group<Scalar> RxSO3Type;
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typedef typename RxSO3Group<Scalar>::Point Point;
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typedef typename RxSO3Group<Scalar>::Tangent Tangent;
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vector<RxSO3Type> rxso3_vec;
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, 0.0, 1.)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, -1.0, 1.1)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0., 1.1)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0.)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0.00001)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(M_PI, 0, 0, 0.9)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, 0.0,0))
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*RxSO3Type::exp(Tangent(M_PI, 0, 0,0.0))
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*RxSO3Type::exp(Tangent(-0.2, -0.5, -0.0,0)));
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rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.3, 0.5, 0.1,0))
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*RxSO3Type::exp(Tangent(M_PI, 0, 0,0))
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*RxSO3Type::exp(Tangent(-0.3, -0.5, -0.1,0)));
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vector<Tangent> tangent_vec;
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Tangent tmp;
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tmp << 0,0,0,0;
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tangent_vec.push_back(tmp);
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tmp << 1,0,0,0;
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tangent_vec.push_back(tmp);
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tmp << 1,0,0,0.1;
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tangent_vec.push_back(tmp);
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tmp << 0,1,0,0.1;
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tangent_vec.push_back(tmp);
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tmp << 0,0,1,-0.1;
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tangent_vec.push_back(tmp);
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tmp << -1,1,0,-0.1;
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tangent_vec.push_back(tmp);
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tmp << 20,-1,0,2;
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tangent_vec.push_back(tmp);
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vector<Point> point_vec;
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point_vec.push_back(Point(1,2,4));
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Tests<RxSO3Type> tests;
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tests.setGroupElements(rxso3_vec);
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tests.setTangentVectors(tangent_vec);
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tests.setPoints(point_vec);
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tests.runAllTests();
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}
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int main() {
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cerr << "Test RxSO3" << endl << endl;
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cerr << "Double tests: " << endl;
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tests<double>();
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cerr << "Float tests: " << endl;
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tests<float>();
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return 0;
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}
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