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57 lines
1.8 KiB
57 lines
1.8 KiB
/*
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* Copyright (C) 2021 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <gtest/gtest.h>
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#include "QuaternionUtil.h"
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#include "TestUtil.h"
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using Eigen::Quaternionf;
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using Eigen::Vector3f;
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namespace android {
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namespace media {
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namespace {
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TEST(QuaternionUtil, RotationVectorToQuaternion) {
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// 90 degrees around Z.
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Vector3f rot = {0, 0, M_PI_2};
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Quaternionf quat = rotationVectorToQuaternion(rot);
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ASSERT_EQ(quat * Vector3f(1, 0, 0), Vector3f(0, 1, 0));
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ASSERT_EQ(quat * Vector3f(0, 1, 0), Vector3f(-1, 0, 0));
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ASSERT_EQ(quat * Vector3f(0, 0, 1), Vector3f(0, 0, 1));
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}
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TEST(QuaternionUtil, QuaternionToRotationVector) {
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Quaternionf quat = Quaternionf::FromTwoVectors(Vector3f(1, 0, 0), Vector3f(0, 1, 0));
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Vector3f rot = quaternionToRotationVector(quat);
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ASSERT_EQ(rot, Vector3f(0, 0, M_PI_2));
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}
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TEST(QuaternionUtil, RoundTripFromQuaternion) {
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Quaternionf quaternion = Quaternionf::UnitRandom();
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EXPECT_EQ(quaternion, rotationVectorToQuaternion(quaternionToRotationVector(quaternion)));
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}
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TEST(QuaternionUtil, RoundTripFromVector) {
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Vector3f vec{0.1, 0.2, 0.3};
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EXPECT_EQ(vec, quaternionToRotationVector(rotationVectorToQuaternion(vec)));
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}
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} // namespace
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} // namespace media
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} // namespace android
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