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Implements rotgen::quaternion

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Closes #19

Co-authored-by: Jules Pénuchot <jules@penuchot.com>
This commit is contained in:
Joel Falcou 2025-11-09 19:07:20 +01:00
parent aba4d65feb
commit c400650f1a
53 changed files with 995 additions and 84 deletions
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28
test/unit/quaternion/basic_api.cpp Normal file
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//==============================================================================
/*
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});
};

32
test/unit/quaternion/constructors.cpp Normal file
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//==================================================================================================
/*
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});
};

114
test/unit/quaternion/generators.cpp Normal file
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//==============================================================================
/*
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);
};