Visual Servoing Platform version 3.6.0
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testQuaternion2.cpp
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30 *
31 * Description:
32 * Test quaternion interpolation.
33 *
34*****************************************************************************/
35
41#include <visp3/core/vpConfig.h>
42
43#ifdef VISP_HAVE_CATCH2
44
45#include <visp3/core/vpQuaternionVector.h>
46
47#define CATCH_CONFIG_RUNNER
48#include <catch.hpp>
49
50TEST_CASE("Quaternion interpolation", "[quaternion]")
51{
52 const double angle0 = vpMath::rad(-37.14);
53 const double angle1 = vpMath::rad(57.96);
54 vpColVector axis({1.2, 6.4, -3.7});
55 axis.normalize();
56 const vpThetaUVector tu0(angle0 * axis);
57 const vpThetaUVector tu1(angle1 * axis);
58 const vpQuaternionVector q0(tu0);
59 const vpQuaternionVector q1(tu1);
60 const double t = 0.5;
61
62 const double ref_angle_middle = t * (angle0 + angle1);
63 const double margin = 1e-3;
64 const double marginLerp = 1e-1;
65
66 // From:
67 // https://github.com/google/mathfu/blob/a75f852f2d76f6f14d5697e0d09ce509a2e3bfc6/unit_tests/quaternion_test/quaternion_test.cpp#L319-L329
68 // This will verify that interpolating two quaternions corresponds to interpolating the angle.
69 SECTION("LERP")
70 {
72 CHECK(vpThetaUVector(qLerp).getTheta() == Approx(ref_angle_middle).margin(marginLerp));
73 }
74
75 SECTION("NLERP")
76 {
78 CHECK(vpThetaUVector(qNlerp).getTheta() == Approx(ref_angle_middle).margin(margin));
79 }
80
81 SECTION("SERP")
82 {
84 CHECK(vpThetaUVector(qSlerp).getTheta() == Approx(ref_angle_middle).margin(margin));
85 }
86}
87
88int main(int argc, char *argv[])
89{
90 Catch::Session session; // There must be exactly one instance
91
92 // Let Catch (using Clara) parse the command line
93 session.applyCommandLine(argc, argv);
94
95 int numFailed = session.run();
96
97 // numFailed is clamped to 255 as some unices only use the lower 8 bits.
98 // This clamping has already been applied, so just return it here
99 // You can also do any post run clean-up here
100 return numFailed;
101}
102#else
103#include <iostream>
104
105int main() { return EXIT_SUCCESS; }
106#endif
Implementation of column vector and the associated operations.
vpColVector & normalize()
static double rad(double deg)
Definition vpMath.h:116
Implementation of a rotation vector as quaternion angle minimal representation.
static vpQuaternionVector slerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
static vpQuaternionVector nlerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
static vpQuaternionVector lerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t)
Implementation of a rotation vector as axis-angle minimal representation.