56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testPoint3.cpp
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* @brief Unit tests for Point3 class
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/geometry/Point3.h>
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using namespace gtsam;
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Point3 P(0.2,0.7,-2);
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/* ************************************************************************* */
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TEST( Point3, arithmetic)
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{
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CHECK(P*3==3*P);
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CHECK(assert_equal( Point3(-1,-5,-6), -Point3(1,5,6) ));
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CHECK(assert_equal( Point3(2,5,6), Point3(1,4,5)+Point3(1,1,1)));
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CHECK(assert_equal( Point3(0,3,4), Point3(1,4,5)-Point3(1,1,1)));
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CHECK(assert_equal( Point3(2,8,6), Point3(1,4,3)*2));
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CHECK(assert_equal( Point3(2,2,6), 2*Point3(1,1,3)));
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CHECK(assert_equal( Point3(1,2,3), Point3(2,4,6)/2));
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}
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/* ************************************************************************* */
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TEST( Point3, equals)
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{
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CHECK(P.equals(P));
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Point3 Q;
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CHECK(!P.equals(Q));
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}
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/* ************************************************************************* */
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TEST( Point3, dot)
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{
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Point3 origin, ones(1,1,1);
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CHECK(origin.dot(Point3(1,1,0)) == 0);
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CHECK(ones.dot(Point3(1,1,0)) == 2);
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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