// Testing of UnitQuaternion multiplication
TYPED_TEST (UnitQuaternionsSingleTest, testUnitQuaternionSingleMultiplication) {
typedef typename TestFixture::UnitQuaternion UnitQuaternion;
typedef typename TestFixture::UnitQuaternionScalar UnitQuaternionScalar;
typedef typename TestFixture::EigenQuat EigenQuat;
UnitQuaternion testQuat;
// Check multiplication of two generic quaternions and compare with eigen results
UnitQuaternion quat12 = this->quat1*this->quat2;
EigenQuat eigenQuat12 = this->eigenQuat1*this->eigenQuat2;
ASSERT_EQ(quat12.w(),eigenQuat12.w());
ASSERT_EQ(quat12.x(),eigenQuat12.x());
ASSERT_EQ(quat12.y(),eigenQuat12.y());
ASSERT_EQ(quat12.z(),eigenQuat12.z());
// Check result of multiplication of a generic quaternion with identity
testQuat = this->quat1*this->quatIdentity;
ASSERT_EQ(testQuat.w(),this->quat1.w());
ASSERT_EQ(testQuat.x(),this->quat1.x());
ASSERT_EQ(testQuat.y(),this->quat1.y());
ASSERT_EQ(testQuat.z(),this->quat1.z());
testQuat = this->quatIdentity*this->quat1;
ASSERT_EQ(testQuat.w(),this->quat1.w());
ASSERT_EQ(testQuat.x(),this->quat1.x());
ASSERT_EQ(testQuat.y(),this->quat1.y());
ASSERT_EQ(testQuat.z(),this->quat1.z());
}
// Testing vector() and constructor from vector
TYPED_TEST (UnitQuaternionsSingleTest, testQuaternionSingleVectorAndVectorConstructor) {
typedef typename TestFixture::UnitQuaternion UnitQuaternion;
typedef typename TestFixture::UnitQuaternionScalar UnitQuaternionScalar;
typedef Eigen::Matrix<UnitQuaternionScalar, 4, 1> Vector4;
UnitQuaternion quat = this->quat1;
// vector()
Vector4 vector = quat.vector();
ASSERT_NEAR(quat.w(),vector(0), 1e-3);
ASSERT_NEAR(quat.x(),vector(1), 1e-3);
ASSERT_NEAR(quat.y(),vector(2), 1e-3);
ASSERT_NEAR(quat.z(),vector(3), 1e-3);
// constructor from vector
UnitQuaternion quatFromVector(vector);
ASSERT_NEAR(quat.w(),quatFromVector.w(), 1e-3);
ASSERT_NEAR(quat.x(),quatFromVector.x(), 1e-3);
ASSERT_NEAR(quat.y(),quatFromVector.y(), 1e-3);
ASSERT_NEAR(quat.z(),quatFromVector.z(), 1e-3);
}
// Testing of UnitQuaternion Constructor and Access Operator
TYPED_TEST (UnitQuaternionsSingleTest, testUnitQuaternionSingleConstructor) {
typedef typename TestFixture::UnitQuaternion UnitQuaternion;
typedef typename TestFixture::UnitQuaternionScalar UnitQuaternionScalar;
typedef typename TestFixture::EigenQuat EigenQuat;
// Default constructor of quaternion needs to set all coefficients to zero
UnitQuaternion testQuat;
ASSERT_EQ(testQuat.w(),UnitQuaternionScalar(1));
ASSERT_EQ(testQuat.x(),UnitQuaternionScalar(0));
ASSERT_EQ(testQuat.y(),UnitQuaternionScalar(0));
ASSERT_EQ(testQuat.z(),UnitQuaternionScalar(0));
// Constructor of quaternion using 4 scalars
UnitQuaternion testQuat1(this->eigenQuat1.w(), this->eigenQuat1.x(), this->eigenQuat1.y(), this->eigenQuat1.z());
ASSERT_EQ(testQuat1.w(),this->eigenQuat1.w());
ASSERT_EQ(testQuat1.x(),this->eigenQuat1.x());
ASSERT_EQ(testQuat1.y(),this->eigenQuat1.y());
ASSERT_EQ(testQuat1.z(),this->eigenQuat1.z());
// Constructor of quaternion using real and imaginary part
UnitQuaternion testQuat2(this->eigenQuat1.w(),typename UnitQuaternion::Imaginary(this->eigenQuat1.x(), this->eigenQuat1.y(), this->eigenQuat1.z()));
ASSERT_EQ(testQuat2.w(),this->eigenQuat1.w());
ASSERT_EQ(testQuat2.x(),this->eigenQuat1.x());
ASSERT_EQ(testQuat2.y(),this->eigenQuat1.y());
ASSERT_EQ(testQuat2.z(),this->eigenQuat1.z());
ASSERT_EQ(testQuat2.real(),this->eigenQuat1.w());
ASSERT_EQ(testQuat2.imaginary()(0),this->eigenQuat1.x());
ASSERT_EQ(testQuat2.imaginary()(1),this->eigenQuat1.y());
ASSERT_EQ(testQuat2.imaginary()(2),this->eigenQuat1.z());
// Constructor of quaternion using eigen quaternion
UnitQuaternion testQuat3(this->eigenQuat1);
ASSERT_EQ(testQuat3.w(),this->eigenQuat1.w());
ASSERT_EQ(testQuat3.x(),this->eigenQuat1.x());
ASSERT_EQ(testQuat3.y(),this->eigenQuat1.y());
ASSERT_EQ(testQuat3.z(),this->eigenQuat1.z());
}