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libcifpp
Commit cf628fa9 by Maarten L. Hekkelman
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parent a8abf280
Showing with 147 additions and 12 deletions
CMakeLists.txt
...@@ -429,7 +429,7 @@ if(ENABLE_TESTING) ...@@ -429,7 +429,7 @@ if(ENABLE_TESTING)
add_executable(${CIFPP_TEST} ${CIFPP_TEST_SOURCE}) add_executable(${CIFPP_TEST} ${CIFPP_TEST_SOURCE})
target_link_libraries(${CIFPP_TEST} PRIVATE Threads::Threads cifpp::cifpp Boost::boost) target_link_libraries(${CIFPP_TEST} PRIVATE Threads::Threads cifpp::cifpp Boost::boost Eigen3::Eigen)
if(MSVC) if(MSVC)
# Specify unwind semantics so that MSVC knowns how to handle exceptions # Specify unwind semantics so that MSVC knowns how to handle exceptions
......
test/unit-3d-test.cpp
...@@ -31,6 +31,8 @@ ...@@ -31,6 +31,8 @@
#include <cif++.hpp> #include <cif++.hpp>
#include <Eigen/Eigenvalues>
namespace tt = boost::test_tools; namespace tt = boost::test_tools;
namespace utf = boost::unit_test; namespace utf = boost::unit_test;
...@@ -254,8 +256,8 @@ BOOST_AUTO_TEST_CASE(dh_q_1) ...@@ -254,8 +256,8 @@ BOOST_AUTO_TEST_CASE(dh_q_1)
BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f)) BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
{ {
cif::point pts[3] = { cif::point pts[3] = {
{ 1, 2, 1 }, { 1, 2, 0 },
{ -2, -1, 1 }, { -2, -1, 0 },
{ 0, 0, 0 } { 0, 0, 0 }
}; };
...@@ -264,10 +266,10 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f)) ...@@ -264,10 +266,10 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
float a1 = std::acos(dot_product(v1, v2) / (v1.length() * v2.length())); float a1 = std::acos(dot_product(v1, v2) / (v1.length() * v2.length()));
auto s = std::sin(a1 / 2); auto sin = std::sin(a1 / 2);
auto c = std::cos(a1 / 2); auto cos = std::cos(a1 / 2);
cif::quaternion q{ c, 0, 0, s }; cif::quaternion q{ cos, 0, 0, sin };
auto pr = pts[0]; auto pr = pts[0];
pr.rotate(q); pr.rotate(q);
...@@ -291,25 +293,51 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f)) ...@@ -291,25 +293,51 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
BOOST_TEST(pr.m_y == pts[1].m_y); BOOST_TEST(pr.m_y == pts[1].m_y);
BOOST_TEST(pr.m_z == pts[1].m_z); BOOST_TEST(pr.m_z == pts[1].m_z);
auto &&[ev, em] = eigen(rot, false); Eigen::Matrix3f em2;
em2(0, 0) = 0;
em2(0, 1) = -1;
em2(0, 2) = 0;
em2(1, 0) = 1;
em2(1, 1) = -1;
em2(1, 2) = 0;
em2(2, 0) = 0;
em2(2, 1) = 0;
em2(2, 2) = 1;
Eigen::EigenSolver<Eigen::Matrix3f> es(em2);
auto eev = es.eigenvalues();
for (size_t i = 0; i < 3; ++i) for (size_t i = 0; i < 3; ++i)
{ {
if (ev[i] != 1) if (std::abs(eev[i].real() - 1) > 0.01)
continue; continue;
auto tr = rot(0, 0) + rot(1, 1) + rot(2, 2); auto tr = em2(0, 0) + em2(1, 1) + em2(2, 2);
auto a2 = std::acos((tr - 1) / 2.0f); auto a2 = std::acos((tr - 1) / 2.0f);
BOOST_TEST(2 * std::cos(a2) + 1 == tr); BOOST_TEST(2 * std::cos(a2) + 1 == tr);
// Nice, but not working.
// axis is:
auto c = es.eigenvectors().col(i);
cif::point axis{ c(0).real(), c(1).real(), c(2).real() };
// take line perpendicular to this axis
auto s2 = std::sin(a2 / 2); auto s2 = std::sin(a2 / 2);
auto c2 = std::cos(a2 / 2); auto c2 = std::cos(a2 / 2);
auto q2 = normalize(cif::quaternion{ auto q2 = normalize(cif::quaternion{
static_cast<float>(c2), static_cast<float>(c2),
static_cast<float>(s2 * em(0, i)), static_cast<float>(s2 * c(0).real()),
static_cast<float>(s2 * em(1, i)), static_cast<float>(s2 * c(1).real()),
static_cast<float>(s2 * em(2, i)) }); static_cast<float>(s2 * c(2).real()) });
pr = pts[0]; pr = pts[0];
pr.rotate(q2); pr.rotate(q2);
...@@ -318,8 +346,115 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f)) ...@@ -318,8 +346,115 @@ BOOST_AUTO_TEST_CASE(m2q_1, *utf::tolerance(0.001f))
BOOST_TEST(pr.m_z == pts[1].m_z); BOOST_TEST(pr.m_z == pts[1].m_z);
break; break;
} }
// float t = rot(0, 0) + rot(1, 1) + rot(2, 2);
// float r = std::sqrt(t + 1);
// cif::quaternion q2 = normalize(cif::quaternion{
// r / 2,
// (std::signbit(rot(2, 1) - rot(1, 2)) ? -1 : 1) * std::sqrt(1 + rot(0, 0) - rot(1, 1) - rot(2, 2)) / 2,
// (std::signbit(rot(0, 2) - rot(2, 0)) ? -1 : 1) * std::sqrt(1 - rot(0, 0) + rot(1, 1) - rot(2, 2)) / 2,
// (std::signbit(rot(1, 0) - rot(0, 1)) ? -1 : 1) * std::sqrt(1 + rot(0, 0) - rot(1, 1) + rot(2, 2)) / 2
// });
// float r = std::sqrt(1 + rot(0, 0) - rot(1, 1) - rot(2, 2));
// float s = 1 / (2 * r);
// float w = (rot(2, 1) - rot(1, 2)) * s;
// float x = r / 2;
// float y = (rot(0, 1) + rot(1, 0)) * s;
// float z = (rot(2, 0) + rot(0, 2)) * s;
// cif::quaternion q2 = normalize(cif::quaternion{w, x, y, z});
// pr = pts[0];
// pr.rotate(q2);
// BOOST_TEST(pr.m_x == pts[1].m_x);
// BOOST_TEST(pr.m_y == pts[1].m_y);
// BOOST_TEST(pr.m_z == pts[1].m_z);
// auto &&[ev, em] = eigen(rot, false);
// for (size_t i = 0; i < 3; ++i)
// {
// if (ev[i] != 1)
// continue;
// auto tr = rot(0, 0) + rot(1, 1) + rot(2, 2);
// auto a2 = std::acos((tr - 1) / 2.0f);
// BOOST_TEST(2 * std::cos(a2) + 1 == tr);
// auto s2 = std::sin(a2 / 2);
// auto c2 = std::cos(a2 / 2);
// auto q2 = normalize(cif::quaternion{
// static_cast<float>(c2),
// static_cast<float>(s2 * em(0, i)),
// static_cast<float>(s2 * em(1, i)),
// static_cast<float>(s2 * em(2, i)) });
// pr = pts[0];
// pr.rotate(q2);
// BOOST_TEST(pr.m_x == pts[1].m_x);
// BOOST_TEST(pr.m_y == pts[1].m_y);
// BOOST_TEST(pr.m_z == pts[1].m_z);
// break;
// }
// Eigen::Matrix3f em2;
// em2(0, 0) = 0;
// em2(0, 1) = -1;
// em2(0, 2) = 0;
// em2(1, 0) = 1;
// em2(1, 1) = -1;
// em2(1, 2) = 0;
// em2(2, 0) = 0;
// em2(2, 1) = 0;
// em2(2, 2) = 1;
// Eigen::EigenSolver<Eigen::Matrix3f> es(em2);
// auto eev = es.eigenvalues();
// for (size_t i = 0; i < 3; ++i)
// {
// if (std::abs(eev[i].real() - 1) > 0.01)
// continue;
// auto tr = em2(0, 0) + em2(1, 1) + em2(2, 2);
// auto a2 = std::acos((tr - 1) / 2.0f);
// BOOST_TEST(2 * std::cos(a2) + 1 == tr);
// auto s2 = std::sin(a2 / 2);
// auto c2 = std::cos(a2 / 2);
// auto c = es.eigenvectors().col(i);
// auto q2 = normalize(cif::quaternion{
// static_cast<float>(c2),
// static_cast<float>(s2 * c(0).real()),
// static_cast<float>(s2 * c(1).real()),
// static_cast<float>(s2 * c(2).real()) });
// pr = pts[0];
// pr.rotate(q2);
// BOOST_TEST(pr.m_x == pts[1].m_x);
// BOOST_TEST(pr.m_y == pts[1].m_y);
// BOOST_TEST(pr.m_z == pts[1].m_z);
// break;
// }
} }
// -------------------------------------------------------------------- // --------------------------------------------------------------------
......
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