Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
107 lines
2.7 KiB
C++
107 lines
2.7 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
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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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// Tests for engine/engine_util_spatial.c
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#include "src/engine/engine_util_spatial.h"
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#include <cmath>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjtnum.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::ElementsAre;
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using Quat2MatTest = MujocoTest;
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std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
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return std::vector<mjtNum>(array, array + n);
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}
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TEST_F(Quat2MatTest, NoRotation) {
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mjtNum result[9] = {0};
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mjtNum quat[] = {1, 0, 0, 0};
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mju_quat2Mat(result, quat);
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EXPECT_THAT(
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AsVector(result, 9),
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ElementsAre(1, 0, 0,
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0, 1, 0,
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0, 0, 1)
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);
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}
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TEST_F(Quat2MatTest, TinyRotation) {
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mjtNum result[9] = {0};
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// An angle so small that cos(angle) == 1.0 to double accuracy
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mjtNum angle = 1e-8;
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mjtNum quat[] = {cos(angle/2), sin(angle/2), 0, 0};
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mju_quat2Mat(result, quat);
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EXPECT_THAT(
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AsVector(result, 9),
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ElementsAre(1, 0 , 0 ,
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0, cos(angle), -sin(angle),
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0, sin(angle), cos(angle))
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);
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}
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using MulQuatTest = MujocoTest;
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TEST_F(MulQuatTest, TinyRotation) {
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mjtNum null_quat[4] = {1, 0, 0, 0};
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mjtNum result[4];
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// An angle so small that cos(angle) == 1.0 to double accuracy
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mjtNum angle = 1e-8;
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mjtNum quat[] = {cos(angle/2), sin(angle/2), 0, 0};
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mju_mulQuat(result, null_quat, quat);
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EXPECT_THAT(
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AsVector(result, 4),
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ElementsAre(cos(angle/2), sin(angle/2), 0, 0)
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);
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}
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using RotVecQuatTest = MujocoTest;
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TEST_F(RotVecQuatTest, NoRotation) {
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mjtNum result[3];
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mjtNum vec[] = {1, 2, 3};
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mjtNum quat[] = {1, 0, 0, 0};
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mju_rotVecQuat(result, vec, quat);
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EXPECT_THAT(
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AsVector(result, 3),
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ElementsAre(1, 2, 3)
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);
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}
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TEST_F(RotVecQuatTest, TinyRotation) {
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mjtNum result[3];
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mjtNum vec[] = {0, 1, 0};
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// An angle so small that cos(angle) == 1.0 to double accuracy
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mjtNum angle = 1e-8;
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mjtNum quat[] = {cos(angle/2), sin(angle/2), 0, 0};
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mju_rotVecQuat(result, vec, quat);
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EXPECT_THAT(
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AsVector(result, 3),
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ElementsAre(0, cos(angle), sin(angle))
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);
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}
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} // namespace
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} // namespace mujoco
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