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Updates the test to follow the naiming style and moves the .i and pyt…
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…hon test to the python folder.

Signed-off-by: LolaSegura <[email protected]>
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@LolaSegura
LolaSegura committed Aug 20, 2021
1 parent 7ac05b6 commit 88dc6f6
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Showing 10 changed files with 137 additions and 114 deletions.
8 changes: 8 additions & 0 deletions src/python/CMakeLists.txt
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Expand Up @@ -17,6 +17,10 @@ if (SWIG_FOUND)
set(swig_files
Angle
GaussMarkovProcess
Matrix3
Matrix4
Pose3
Quaternion
Rand
Vector2
Vector3
Expand Down Expand Up @@ -70,7 +74,11 @@ if (PYTHONLIBS_FOUND)
set(python_tests
Angle_TEST
GaussMarkovProcess_TEST
Matrix3_TEST
Matrix4_TEST
Pose3_TEST
python_TEST
Quaternion_TEST
Rand_TEST
Vector2_TEST
Vector3_TEST
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1 change: 1 addition & 0 deletions src/Matrix3.i → src/python/Matrix3.i
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Expand Up @@ -53,6 +53,7 @@ namespace ignition
const Vector3<T> &_yAxis,
const Vector3<T> &_zAxis);
public: void Axis(const Vector3<T> &_axis, T _angle);
%rename(from_2_axes) From2Axes;
public: void From2Axes(const Vector3<T> &_v1, const Vector3<T> &_v2);
public: void Col(unsigned int _c, const Vector3<T> &_v);
public: Matrix3<T> operator-(const Matrix3<T> &_m) const;
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53 changes: 28 additions & 25 deletions src/Matrix3_TEST.py → src/python/Matrix3_TEST.py
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Expand Up @@ -119,7 +119,7 @@ def test_vector3_mul(self):
self.assertAlmostEqual(Matrix3d.ZERO, matrix * 0)

# Vector3.ZERO
self.assertAlmostEqual(Vector3d.Zero, matrix * Vector3d.Zero)
self.assertAlmostEqual(Vector3d.ZERO, matrix * Vector3d.ZERO)

# Matrix3.ZERO
self.assertAlmostEqual(Matrix3d.ZERO, matrix * Matrix3d.ZERO)
Expand All @@ -133,11 +133,14 @@ def test_vector3_mul(self):
# Vector3.Unit
# right multiply
self.assertAlmostEqual(Vector3d(matrix(0, 0), matrix(1, 0),
matrix(2, 0)), matrix * Vector3d.UnitX)
matrix(2, 0)),
matrix * Vector3d.UNIT_X)
self.assertAlmostEqual(Vector3d(matrix(0, 1), matrix(1, 1),
matrix(2, 1)), matrix * Vector3d.UnitY)
matrix(2, 1)),
matrix * Vector3d.UNIT_Y)
self.assertAlmostEqual(Vector3d(matrix(0, 2), matrix(1, 2),
matrix(2, 2)), matrix * Vector3d.UnitZ)
matrix(2, 2)),
matrix * Vector3d.UNIT_Z)

# Matrix3.IDENTITY
self.assertAlmostEqual(matrix, matrix * Matrix3d.IDENTITY)
Expand Down Expand Up @@ -231,10 +234,10 @@ def test_from_2axes(self):
v2 = Vector3d(0.0, 1.0, 0.0)

m1 = Matrix3d()
m1.from_2axes(v1, v2)
m1.from_2_axes(v1, v2)

m2 = Matrix3d()
m2.from_2axes(v2, v1)
m2.from_2_axes(v2, v1)

m1Correct = Matrix3d(0, -1, 0,
1, 0, 0,
Expand All @@ -250,18 +253,18 @@ def test_from_2axes(self):
self.assertAlmostEqual(v1, m2 * v2)

# rotation about 45 degrees
v1.Set(1.0, 0.0, 0.0)
v2.Set(1.0, 1.0, 0.0)
m2.from_2axes(v1, v2)
v1.set(1.0, 0.0, 0.0)
v2.set(1.0, 1.0, 0.0)
m2.from_2_axes(v1, v2)
# m1 is 90 degrees rotation
self.assertAlmostEqual(m1, m2*m2)

# with non-unit vectors
v1.Set(0.5, 0.5, 0)
v2.Set(-0.5, 0.5, 0)
v1.set(0.5, 0.5, 0)
v2.set(-0.5, 0.5, 0)

m1.from_2axes(v1, v2)
m2.from_2axes(v2, v1)
m1.from_2_axes(v1, v2)
m2.from_2_axes(v2, v1)

self.assertNotEqual(m1, m2)
self.assertAlmostEqual(m1Correct, m1)
Expand All @@ -271,27 +274,27 @@ def test_from_2axes(self):
self.assertAlmostEqual(v1, m2 * v2)

# For zero-length vectors, a unit matrix is returned
v1.Set(0, 0, 0)
v2.Set(-0.5, 0.5, 0)
m1.from_2axes(v1, v2)
v1.set(0, 0, 0)
v2.set(-0.5, 0.5, 0)
m1.from_2_axes(v1, v2)
self.assertAlmostEqual(Matrix3d.IDENTITY, m1)

# For zero-length vectors, a unit matrix is returned
v1.Set(-0.5, 0.5, 0)
v2.Set(0, 0, 0)
m1.from_2axes(v1, v2)
v1.set(-0.5, 0.5, 0)
v2.set(0, 0, 0)
m1.from_2_axes(v1, v2)
self.assertAlmostEqual(Matrix3d.IDENTITY, m1)

# Parallel vectors
v1.Set(1, 0, 0)
v2.Set(2, 0, 0)
m1.from_2axes(v1, v2)
v1.set(1, 0, 0)
v2.set(2, 0, 0)
m1.from_2_axes(v1, v2)
self.assertAlmostEqual(Matrix3d.IDENTITY, m1)

# Opposite vectors
v1.Set(1, 0, 0)
v2.Set(-2, 0, 0)
m1.from_2axes(v1, v2)
v1.set(1, 0, 0)
v2.set(-2, 0, 0)
m1.from_2_axes(v1, v2)
self.assertAlmostEqual(Matrix3d.ZERO - Matrix3d.IDENTITY, m1)


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0 src/Matrix4.i → src/python/Matrix4.i
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28 changes: 14 additions & 14 deletions src/Matrix4_TEST.py → src/python/Matrix4_TEST.py
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Expand Up @@ -447,16 +447,16 @@ def test_transpose(self):
self.assertEqual(m, mT)

def test_look_at(self):
self.assertAlmostEqual(Matrix4d.look_at(-Vector3d.UnitX,
Vector3d.Zero).pose(),
self.assertAlmostEqual(Matrix4d.look_at(-Vector3d.UNIT_X,
Vector3d.ZERO).pose(),
Pose3d(-1, 0, 0, 0, 0, 0))

self.assertAlmostEqual(Matrix4d.look_at(Vector3d(3, 2, 0),
Vector3d(0, 2, 0)).pose(),
Pose3d(3, 2, 0, 0, 0, math.pi))

self.assertAlmostEqual(Matrix4d.look_at(Vector3d(1, 6, 1),
Vector3d.One).pose(),
Vector3d.ONE).pose(),
Pose3d(1, 6, 1, 0, 0, -math.pi/2))

self.assertAlmostEqual(Matrix4d.look_at(Vector3d(-1, -1, 0),
Expand All @@ -468,49 +468,49 @@ def test_look_at(self):
Vector3d(999, -0.6, 0)),
Matrix4d.look_at(Vector3d(0.1, -5, 222),
Vector3d(999, -0.6, 0),
Vector3d.UnitZ))
Vector3d.UNIT_Z))

# up == zero, default up = +z
self.assertAlmostEqual(Matrix4d.look_at(Vector3d(1.23, 456, 0.7),
Vector3d(0, 8.9, -10),
Vector3d.Zero),
Vector3d.ZERO),
Matrix4d.look_at(Vector3d(1.23, 456, 0.7),
Vector3d(0, 8.9, -10)))

# up == +x, default up = +z
self.assertAlmostEqual(Matrix4d.look_at(Vector3d(0.25, 9, -5),
Vector3d(-6, 0, 0.4),
Vector3d.UnitX),
Vector3d.UNIT_X),
Matrix4d.look_at(Vector3d(0.25, 9, -5),
Vector3d(-6, 0, 0.4)))

# up == -x, default up = +z
self.assertAlmostEqual(Matrix4d.look_at(Vector3d(0, 0, 0.2),
Vector3d(-8, 0, -6),
-Vector3d.UnitX),
-Vector3d.UNIT_X),
Matrix4d.look_at(Vector3d(0, 0, 0.2),
Vector3d(-8, 0, -6)))

# eye == target, default direction = +x
self.assertAlmostEqual(Matrix4d.look_at(Vector3d.One,
Vector3d.One),
Matrix4d.look_at(Vector3d.One,
self.assertAlmostEqual(Matrix4d.look_at(Vector3d.ONE,
Vector3d.ONE),
Matrix4d.look_at(Vector3d.ONE,
Vector3d(1.0001, 1, 1)))

# Not possible to keep _up on +z
self.assertAlmostEqual(Matrix4d.look_at(Vector3d(-1, 0, 10),
Vector3d(-1, 0, 0)),
Matrix4d.look_at(Vector3d(-1, 0, 10),
Vector3d(-1, 0, 0),
-Vector3d.UnitX))
-Vector3d.UNIT_X))

# Different ups
self.assertAlmostEqual(Matrix4d.look_at(Vector3d.One,
self.assertAlmostEqual(Matrix4d.look_at(Vector3d.ONE,
Vector3d(0, 1, 1),
Vector3d.UnitY).pose(),
Vector3d.UNIT_Y).pose(),
Pose3d(1, 1, 1, math.pi/2, 0, math.pi))

self.assertAlmostEqual(Matrix4d.look_at(Vector3d.One,
self.assertAlmostEqual(Matrix4d.look_at(Vector3d.ONE,
Vector3d(0, 1, 1),
Vector3d(0, 1, 1)).pose(),
Pose3d(1, 1, 1, math.pi/4, 0, math.pi))
Expand Down
0 src/Pose3.i → src/python/Pose3.i
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50 changes: 25 additions & 25 deletions src/Pose3_TEST.py → src/python/Pose3_TEST.py
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Expand Up @@ -41,44 +41,44 @@ def test_pose(self):
# A is the transform from O to P specified in frame O
# B is the transform from P to Q specified in frame P
# then, B + A is the transform from O to Q specified in frame O
self.assertAlmostEqual((B + A).pos().X(), 1.0 + 1.0/math.sqrt(2))
self.assertAlmostEqual((B + A).pos().Y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((B + A).pos().Z(), 0.0)
self.assertAlmostEqual((B + A).rot().euler().X(), 0.0)
self.assertAlmostEqual((B + A).rot().euler().Y(), 0.0)
self.assertAlmostEqual((B + A).rot().euler().Z(), 3.0*math.pi/4.0)
self.assertAlmostEqual((B + A).pos().x(), 1.0 + 1.0/math.sqrt(2))
self.assertAlmostEqual((B + A).pos().y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((B + A).pos().z(), 0.0)
self.assertAlmostEqual((B + A).rot().euler().x(), 0.0)
self.assertAlmostEqual((B + A).rot().euler().y(), 0.0)
self.assertAlmostEqual((B + A).rot().euler().z(), 3.0*math.pi/4.0)

# If:
# A is the transform from O to P in frame O
# B is the transform from O to Q in frame O
# then -A is transform from P to O specified in frame P
self.assertAlmostEqual((Pose3d() - A).pos().X(), -1.0/math.sqrt(2))
self.assertAlmostEqual((Pose3d() - A).pos().Y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((Pose3d() - A).pos().Z(), 0.0)
self.assertAlmostEqual((Pose3d() - A).rot().euler().X(), 0.0)
self.assertAlmostEqual((Pose3d() - A).rot().euler().Y(), 0.0)
self.assertAlmostEqual((Pose3d() - A).rot().euler().Z(), -math.pi/4)
self.assertAlmostEqual((Pose3d() - A).pos().x(), -1.0/math.sqrt(2))
self.assertAlmostEqual((Pose3d() - A).pos().y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((Pose3d() - A).pos().z(), 0.0)
self.assertAlmostEqual((Pose3d() - A).rot().euler().x(), 0.0)
self.assertAlmostEqual((Pose3d() - A).rot().euler().y(), 0.0)
self.assertAlmostEqual((Pose3d() - A).rot().euler().z(), -math.pi/4)

# test negation operator
self.assertAlmostEqual((-A).pos().X(), -1.0/math.sqrt(2))
self.assertAlmostEqual((-A).pos().Y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((-A).pos().Z(), 0.0)
self.assertAlmostEqual((-A).rot().euler().X(), 0.0)
self.assertAlmostEqual((-A).rot().euler().Y(), 0.0)
self.assertAlmostEqual((-A).rot().euler().Z(), -math.pi/4.0)
self.assertAlmostEqual((-A).pos().x(), -1.0/math.sqrt(2))
self.assertAlmostEqual((-A).pos().y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((-A).pos().z(), 0.0)
self.assertAlmostEqual((-A).rot().euler().x(), 0.0)
self.assertAlmostEqual((-A).rot().euler().y(), 0.0)
self.assertAlmostEqual((-A).rot().euler().z(), -math.pi/4.0)

# If:
# A is the transform from O to P in frame O
# B is the transform from O to Q in frame O
# B - A is the transform from P to Q in frame P
B = Pose3d(Vector3d(1, 1, 0),
Quaterniond(0, 0, math.pi/2.0))
self.assertAlmostEqual((B - A).pos().X(), 1.0/math.sqrt(2))
self.assertAlmostEqual((B - A).pos().Y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((B - A).pos().Z(), 0.0)
self.assertAlmostEqual((B - A).rot().euler().X(), 0.0)
self.assertAlmostEqual((B - A).rot().euler().Y(), 0.0)
self.assertAlmostEqual((B - A).rot().euler().Z(), math.pi/4.0)
self.assertAlmostEqual((B - A).pos().x(), 1.0/math.sqrt(2))
self.assertAlmostEqual((B - A).pos().y(), 1.0/math.sqrt(2))
self.assertAlmostEqual((B - A).pos().z(), 0.0)
self.assertAlmostEqual((B - A).rot().euler().x(), 0.0)
self.assertAlmostEqual((B - A).rot().euler().y(), 0.0)
self.assertAlmostEqual((B - A).rot().euler().z(), math.pi/4.0)

pose = Pose3d()
self.assertTrue(pose.pos() == Vector3d(0, 0, 0))
Expand Down Expand Up @@ -112,7 +112,7 @@ def test_pose(self):
pose -= Pose3d(pose)
self.assertTrue(pose == Pose3d(0, 0, 0, 0, 0, 0))

pose.pos().Set(5, 6, 7)
pose.pos().set(5, 6, 7)
pose.rot().euler(Vector3d(.4, .6, 0))

self.assertTrue(pose.coord_position_add(Vector3d(1, 2, 3)) ==
Expand Down
4 changes: 4 additions & 0 deletions src/Quaternion.i → src/python/Quaternion.i
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ namespace ignition
public: T Pitch() const;
public: T Yaw() const;
public: void ToAxis(Vector3<T> &_axis, T &_angle) const;
%rename(from_2_axes) From2Axes;
public: void From2Axes(const Vector3<T> &_v1, const Vector3<T> &_v2);
public: void Scale(T _scale);
public: Quaternion<T> operator+(const Quaternion<T> &_qt) const;
Expand All @@ -81,8 +82,11 @@ namespace ignition
public: Vector3<T> RotateVectorReverse(const Vector3<T> &_vec) const;
public: bool IsFinite() const;
public: inline void Correct();
%rename(x_axis) XAxis;
public: Vector3<T> XAxis() const;
%rename(y_axis) YAxis;
public: Vector3<T> YAxis() const;
%rename(z_axis) ZAxis;
public: Vector3<T> ZAxis() const;
public: void Round(int _precision);
public: T Dot(const Quaternion<T> &_q) const;
Expand Down
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