Implements rotgen::quaternion

Closes #19

Co-authored-by: Jules Pénuchot <jules@penuchot.com>

test/CMakeLists.txt

@@ -27,6 +27,7 @@ rotgen_glob_unit(QUIET PATTERN "unit/matrix/*.cpp"    INTERFACE rotgen_test)
 rotgen_glob_unit(QUIET PATTERN "unit/block/*.cpp"     INTERFACE rotgen_test)
 rotgen_glob_unit(QUIET PATTERN "unit/map/*.cpp"       INTERFACE rotgen_test)
 rotgen_glob_unit(QUIET PATTERN "unit/meta/*.cpp"      INTERFACE rotgen_test)
+rotgen_glob_unit(QUIET PATTERN "unit/quaternion/*.cpp" INTERFACE rotgen_test)
 rotgen_glob_unit(QUIET PATTERN "unit/functions/*.cpp" INTERFACE rotgen_test)
 
 ##======================================================================================================================

test/unit/block/arithmetic_functions.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/arithmetic.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/arithmetic.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic block transposition-like operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/block/basic_api.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 // Helper: fill matrix from raw data
 // NB: This function must not be turned into a lambda, otherwise
 // `test-ubuntu-gcc-release` will not pass and the CI will fail.

test/unit/block/cwise.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/cwise.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/cwise.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic block cwise operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/block/extract.cpp

@@ -7,6 +7,7 @@
 //==================================================================================================
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/references.hpp"
 #include "unit/tests.hpp"
 
 template<typename EigenType, typename F>

test/unit/block/generators.cpp

@@ -8,6 +8,7 @@
 #include <rotgen/rotgen.hpp>
 
 #include "rotgen/functions/functions.hpp"
+#include "unit/common/references.hpp"
 #include "unit/tests.hpp"
 
 void test_value(auto const& matrix,

test/unit/block/norms.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/norms.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/norms.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic block norm operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/block/operators.cpp

@@ -5,8 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
+
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
 #include <Eigen/Dense>
 
 template<typename MatrixType, typename T>

test/unit/common/arithmetic.hpp

@@ -10,6 +10,8 @@
 #include <rotgen/rotgen.hpp>
 
 #include "tts.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
 #include <Eigen/Dense>
 
 namespace rotgen::tests

test/unit/common/cwise.hpp

@@ -10,6 +10,7 @@
 #include <rotgen/rotgen.hpp>
 
 #include "tts.hpp"
+#include "unit/common/references.hpp"
 #include <Eigen/Dense>
 
 namespace rotgen::tests

test/unit/common/norms.hpp

@@ -10,6 +10,7 @@
 #include <rotgen/rotgen.hpp>
 
 #include "tts.hpp"
+#include "unit/common/references.hpp"
 #include <Eigen/Dense>
 
 namespace rotgen::tests

test/unit/common/references.hpp

@@ -1,10 +1,10 @@
-//==================================================================================================
+//==============================================================================
 /*
   ROTGEN - Runtime Overlay for Eigen
   Copyright : CODE RECKONS
   SPDX-License-Identifier: BSL-1.0
 */
-//==================================================================================================
+//==============================================================================
 #pragma once
 
 #include <rotgen/rotgen.hpp>
@@ -59,30 +59,33 @@ namespace rotgen::tests
       for (rotgen::Index c = 0; c < output.cols(); ++c) output(r, c) = fn(r, c);
   }
 
+  auto default_init_function = [](auto row, auto col) {
+    return row + 3 * col - 2.5;
+  };
+
   auto generate_matrix_references()
   {
-    auto fn = [](auto r, auto c) { return r + 3 * c - 2.5; };
     std::vector<rotgen::tests::matrix_descriptor> cases = {
       // Singular matrix
-      {1, 1, fn},
+      {1, 1, default_init_function},
       // Square matrix below MAX_SIZE
-      {3, 3, fn},
+      {3, 3, default_init_function},
       // Square matrix at MAX_SIZE
-      {4, 4, fn},
+      {4, 4, default_init_function},
       // Square matrix above MAX_SIZE
-      {7, 7, fn},
+      {7, 7, default_init_function},
       // Tall matrix below MAX_SIZE
-      {5, 2, fn},
+      {5, 2, default_init_function},
       // Tall matrix at MAX_SIZE
-      {8, 2, fn},
+      {8, 2, default_init_function},
       // Tall matrix above MAX_SIZE
-      {10, 3, fn},
+      {10, 3, default_init_function},
       // Thick matrix below MAX_SIZE
-      {2, 5, fn},
+      {2, 5, default_init_function},
       // Thick matrix at MAX_SIZE
-      {2, 8, fn},
+      {2, 8, default_init_function},
       // Thick matrix above MAX_SIZE
-      {3, 10, fn}};
+      {3, 10, default_init_function}};
 
     return cases;
   }

test/unit/functions/qr.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("System solver using QR",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/functions/rowwise.cpp

@@ -7,6 +7,7 @@
 //==================================================================================================
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/references.hpp"
 #include "unit/tests.hpp"
 
 TTS_CASE_TPL("rowwise API", rotgen::tests::types)<typename T, typename O>(

test/unit/functions/svd.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("SVD decomposition - Dynamic case",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)
@@ -19,7 +20,8 @@ TTS_CASE_TPL("SVD decomposition - Dynamic case",
     rotgen::matrix<T, rotgen::Dynamic, rotgen::Dynamic, O::value>::Random(5, 5);
   auto decomp = rotgen::svd(m);
 
-  do {
+  do
+  {
     rank = decomp.rank();
 
     auto u = decomp.U(rank);
@@ -56,7 +58,8 @@ TTS_CASE_TPL("SVD decomposition - Static case",
   auto m = rotgen::matrix<T, 5, 5, O::value>::Random();
   auto decomp = rotgen::svd(m);
 
-  do {
+  do
+  {
     rank = decomp.rank();
 
     auto u = decomp.U(rank);

test/unit/map/arithmetic_functions.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/arithmetic.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/arithmetic.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic map transposition-like operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/map/basic_api.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Function size", rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)
 {

test/unit/map/constructors.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("map constructor from pointer and single static size",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/map/cwise.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/cwise.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/cwise.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic map cwise operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/map/norms.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/norms.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/norms.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic map norm operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/map/operators.cpp

@@ -5,9 +5,9 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
-#include <vector>
+
+#include "unit/tests.hpp"
 
 template<typename MatrixType>
 void test_map_operations(rotgen::Index rows,

test/unit/matrix/arithmetic_functions.cpp

@@ -5,10 +5,13 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/arithmetic.hpp"
+
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/arithmetic.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic matrix transposition-like operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/matrix/basic_api.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Function size", rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)
 {

test/unit/matrix/cwise.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/cwise.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/cwise.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic matrix cwise operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/matrix/generators.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 void test_value(auto const& matrix,
                 std::size_t rows,
                 std::size_t cols,

test/unit/matrix/inverse.cpp

@@ -7,6 +7,7 @@
 //==================================================================================================
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/references.hpp"
 #include "unit/tests.hpp"
 
 TTS_CASE_TPL("Test dynamic matrix inverse",

test/unit/matrix/norms.cpp

@@ -5,10 +5,12 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
-#include "unit/common/norms.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/common/norms.hpp"
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+
 TTS_CASE_TPL("Test dynamic matrix norm operations",
              rotgen::tests::types)<typename T, typename O>(
   tts::type<tts::types<T, O>>)

test/unit/matrix/operators.cpp

@@ -5,9 +5,10 @@
   SPDX-License-Identifier: BSL-1.0
 */
 //==================================================================================================
-#include "unit/tests.hpp"
 #include <rotgen/rotgen.hpp>
 
+#include "unit/tests.hpp"
+
 template<typename MatrixType>
 void test_matrix_operations(rotgen::Index rows,
                             rotgen::Index cols,

test/unit/quaternion/basic_api.cpp

@@ -0,0 +1,28 @@
+//==============================================================================
+/*
+  ROTGEN - Runtime Overlay for Eigen
+  Copyright : CODE RECKONS
+  SPDX-License-Identifier: BSL-1.0
+*/
+//==============================================================================
+
+#include <rotgen/rotgen.hpp>
+
+#include "unit/tests.hpp"
+
+TTS_CASE_TPL("Test coefficient accessors",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+  rotgen::quaternion<Scalar> quaterion;
+
+  quaterion.w() = 1;
+  quaterion.x() = 2;
+  quaterion.y() = 3;
+  quaterion.z() = 4;
+
+  TTS_EQUAL(quaterion.w(), rotgen::Index{1});
+  TTS_EQUAL(quaterion.x(), rotgen::Index{2});
+  TTS_EQUAL(quaterion.y(), rotgen::Index{3});
+  TTS_EQUAL(quaterion.z(), rotgen::Index{4});
+};

test/unit/quaternion/constructors.cpp

@@ -0,0 +1,32 @@
+//==================================================================================================
+/*
+  ROTGEN - Runtime Overlay for Eigen
+  Copyright : CODE RECKONS
+  SPDX-License-Identifier: BSL-1.0
+*/
+//==================================================================================================
+
+#include <rotgen/rotgen.hpp>
+
+#include "unit/tests.hpp"
+
+TTS_CASE_TPL("Default matrix dynamic constructor",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+  rotgen::quaternion<Scalar> rotgen_quaterion;
+
+  TTS_PASS();
+};
+
+TTS_CASE_TPL("Default matrix dynamic constructor",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+  rotgen::quaternion<Scalar> quaterion{1, 2, 3, 4};
+
+  TTS_EQUAL(quaterion.w(), rotgen::Index{1});
+  TTS_EQUAL(quaterion.x(), rotgen::Index{2});
+  TTS_EQUAL(quaterion.y(), rotgen::Index{3});
+  TTS_EQUAL(quaterion.z(), rotgen::Index{4});
+};

test/unit/quaternion/generators.cpp

@@ -0,0 +1,114 @@
+//==============================================================================
+/*
+  ROTGEN - Runtime Overlay for Eigen
+  Copyright : CODE RECKONS
+  SPDX-License-Identifier: BSL-1.0
+*/
+//==============================================================================
+
+#include <rotgen/rotgen.hpp>
+
+#include "unit/common/references.hpp"
+#include "unit/tests.hpp"
+#include <Eigen/Eigen>
+
+TTS_CASE_TPL("Test quaternion::angleAxis",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+  // Eigen
+  Eigen::Quaternion<Scalar> eigen_result;
+  eigen_result =
+    Eigen::AngleAxis<Scalar>(13, Eigen::Matrix<Scalar, 3, 1>{1, 2, 3});
+
+  // Rotgen
+  rotgen::quaternion<Scalar> rotgen_result;
+  rotgen_result =
+    rotgen::angleAxis<Scalar>(13, rotgen::matrix<Scalar, 3, 1>{1, 2, 3});
+
+  TTS_EQUAL(rotgen_result.w(), eigen_result.w());
+  TTS_EQUAL(rotgen_result.x(), eigen_result.x());
+  TTS_EQUAL(rotgen_result.y(), eigen_result.y());
+  TTS_EQUAL(rotgen_result.z(), eigen_result.z());
+};
+
+TTS_CASE_TPL("Test quaternion::operator* with rotgen::matrix",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+  // Eigen
+  Eigen::Quaternion<Scalar> eigen_quat;
+  eigen_quat =
+    Eigen::AngleAxis<Scalar>(13, Eigen::Matrix<Scalar, 3, 1>{1, 2, 3});
+
+  Eigen::Matrix<Scalar, 3, 1> eigen_other{3, 2, 1};
+  auto eigen_result = eigen_quat * eigen_other;
+
+  // Rotgen
+  rotgen::quaternion<Scalar> rotgen_quat;
+  rotgen_quat =
+    rotgen::angleAxis<Scalar>(13, rotgen::matrix<Scalar, 3, 1>{1, 2, 3});
+
+  rotgen::matrix<Scalar, 3, 1> rotgen_other{3, 2, 1};
+  auto rotgen_result = rotgen_quat * rotgen_other;
+
+  for (auto i = 0; i < eigen_result.size(); i++)
+    TTS_ULP_EQUAL(rotgen_result(i), eigen_result(i), 2);
+};
+
+TTS_CASE_TPL("Test quaternion::operator* with rotgen::map",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+  Scalar data[] = {3, 2, 1};
+
+  // Eigen
+  Eigen::Quaternion<Scalar> eigen_quat;
+  eigen_quat =
+    Eigen::AngleAxis<Scalar>(13, Eigen::Matrix<Scalar, 3, 1>{1, 2, 3});
+
+  Eigen::Map<Eigen::Matrix<Scalar, 3, 1>> eigen_other{data};
+  auto eigen_result = eigen_quat * eigen_other;
+
+  // Rotgen
+  rotgen::quaternion<Scalar> rotgen_quat;
+  rotgen_quat =
+    rotgen::angleAxis<Scalar>(13, rotgen::matrix<Scalar, 3, 1>{1, 2, 3});
+
+  rotgen::map<rotgen::matrix<Scalar, 3, 1>> rotgen_other{data};
+  auto rotgen_result = rotgen_quat * rotgen_other;
+
+  for (auto i = 0; i < eigen_result.size(); i++)
+    TTS_ULP_EQUAL(rotgen_result(i), eigen_result(i), 2);
+};
+
+TTS_CASE_TPL("Test quaternion::operator* with rotgen::block",
+             float,
+             double)<typename Scalar>(tts::type<Scalar>)
+{
+
+  // Eigen
+  Eigen::Quaternion<Scalar> eigen_quat;
+  eigen_quat =
+    Eigen::AngleAxis<Scalar>(13, Eigen::Matrix<Scalar, 3, 1>{1, 2, 3});
+
+  Eigen::Matrix<Scalar, 16, 16> eigen_original_mat;
+  rotgen::tests::prepare(16, 16, rotgen::tests::default_init_function,
+                         eigen_original_mat);
+  auto eigen_other = eigen_original_mat.template block<3, 1>(0, 0);
+  auto eigen_result = eigen_quat * eigen_other;
+
+  // Rotgen
+  rotgen::quaternion<Scalar> rotgen_quat;
+  rotgen_quat =
+    rotgen::angleAxis<Scalar>(13, rotgen::matrix<Scalar, 3, 1>{1, 2, 3});
+
+  rotgen::matrix<Scalar, 16, 16> rotgen_original_mat;
+  rotgen::tests::prepare(16, 16, rotgen::tests::default_init_function,
+                         rotgen_original_mat);
+  auto rotgen_other = rotgen::extract<3, 1>(rotgen_original_mat, 0, 0);
+  auto rotgen_result = rotgen_quat * rotgen_other;
+
+  for (auto i = 0; i < eigen_result.size(); i++)
+    TTS_ULP_EQUAL(rotgen_result(i), eigen_result(i), 2);
+};

test/unit/tests.hpp

@@ -7,11 +7,10 @@
 //==================================================================================================
 #pragma once
 
-#include "tts.hpp"
-#include "unit/common/references.hpp"
-#include <rotgen/config.hpp>
 #include <rotgen/concepts.hpp>
-#include <functional>
+#include <rotgen/config.hpp>
+
+#include <tts.hpp>
 
 namespace rotgen::tests
 {