void QuaternionManipulator::qtest3()
{
HEADER("TEST 3 : Yaw 180 = Roll 180 + Pitch 180")
Vector axis_x = {1.0f, 0.0f, 0.0f, 1.0f};
Vector axis_y = {0.0f, 1.0f, 0.0f, 1.0f};
Vector axis_z = {0.0f, 0.0f, 1.0f, 1.0f};
Quaternion qyaw180 = qFromAngleAxis(900.0f, axis_y); // but not 540.0!
qPrint(" qyaw180", qyaw180);
Quaternion qroll180 = qFromAngleAxis(180.0f, axis_x);
qPrint(" qroll180", qroll180);
Quaternion qpitch180 = qFromAngleAxis(180.0f, axis_z);
qPrint("qpitch180", qpitch180);
Quaternion qtest = qMultiply(qpitch180, qroll180);
qPrint(" qtest", qtest);
assert(qEqual(qyaw180, qtest));
}
void QuaternionManipulator::qtest1()
{
HEADER("TEST 1 : Rotation of 90 degrees about the y-axis")
Vector axis = {0.0f, 1.0f, 0.0f};
Quaternion q = qFromAngleAxis(90.0f, axis);
qPrint(" q", q);
Quaternion vi = {0.0f, 7.0f, 0.0f, 0.0f};
qPrint(" vi", vi);
Quaternion ve = {0.0f, 0.0f, 0.0f, -7.0f};
qPrint(" ve", ve);
Quaternion qinv = qInverse(q);
//qClean(qinv);
qPrint("qinv", qinv);
Quaternion vf = qMultiply(qMultiply(q,vi), qinv);
qPrint(" vf", vf);
assert(qEqual(vf, ve));
}
int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
QTextCodec::setCodecForLocale(QTextCodec::codecForName("GB2312"));
QTextCodec::setCodecForCStrings(QTextCodec::codecForName("GB2312"));
QTextCodec::setCodecForTr(QTextCodec::codecForName("GB2312"));
QStringList list;
list<<"one"<<"two"<<"three";
qDebug()<<QObject::tr("qCopu() methord:");
QVector<QString>vect(3);
qCopy(list.begin(),list.end(),vect.begin());
qDebug()<<vect;
/****************************************************************************************************/
qDebug()<<endl<<QObject::tr("qEqual() methord:");
bool bl=qEqual(list.begin(),list.end(),vect.begin());
qDebug()<<bl;
// QList<QString>::iterator i;
// i=qFind(list.begin,list.end(),"two");
/****************************************************************************************************/
qDebug()<<endl<<QObject::tr("qFind() methord:");
QStringList::const_iterator i= qFind(list.begin(), list.end(), "two");
qDebug()<<*i;
/****************************************************************************************************/
qDebug()<<endl<<QObject::tr("qFill() methord:");
qFill(list.begin(),list.end(),"eleven");
qDebug()<<list;
/****************************************************************************************************/
QList<int>list2;
list2<<2<<31<<13<<2<<2<<2<<134<<2<<123<<4<<5<<3<<5<<51;
qDebug()<<endl<<QObject::tr("qCount() methord:");
int number=0;
qCount(list2.begin(),list2.end(),2,number);
qDebug()<<"The number of 2 is:"<<number;
qSort(list2);
QList<int>::iterator j=qLowerBound(list2.begin(),list2.end(),22);
list2.insert(j,22);
/****************************************************************************************************/
qDebug()<<list2;
qStableSort(list2);
qDebug()<<endl<<list2;
/****************************************************************************************************/
qSort(list2.begin(),list2.end(),qGreater<int>());
qDebug()<<endl<<list2;
/****************************************************************************************************/
qStableSort(list2.begin(),list2.end(),qGreater<int>());
qDebug()<<endl<<list2;
/****************************************************************************************************/
double d1=311.3998;
double d2=0.231314;
qDebug()<<endl<<"before swap:"<<d1<<" "<<d2;
qSwap(d1,d2);
qDebug()<<"then swap:"<<d1<<" "<<d2;
/****************************************************************************************************/
int int_a=qBound(2,49,12);
qDebug()<<"int_a="<<int_a;
QDateTime time = QDateTime::currentDateTime();
//QString s=time.toString("yyyy-MM-dd hh:mm:ss");
qDebug()<<time.toString();
return a.exec();
}
