/*
* Copyright (C) 2011-2015, Peter Abeles. All Rights Reserved.
*
* This file is part of Geometric Regression Library (GeoRegression).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package georegression.struct.so;
import georegression.misc.GrlConstants;
import georegression.struct.point.Vector3D_F32;
import org.junit.Test;
import static org.junit.Assert.assertEquals;
/**
* @author Peter Abeles
*/
public class TestRodrigues_F32 {
@Test
public void setParamVector() {
Vector3D_F32 v = new Vector3D_F32(1,2,3);
float theta = v.norm();
v.normalize();
Rodrigues_F32 a = new Rodrigues_F32(theta,v.x,v.y,v.z);
Rodrigues_F32 b = new Rodrigues_F32();
b.setParamVector(v.x*theta,v.y*theta,v.z*theta);
assertEquals(a.theta,b.theta, GrlConstants.FLOAT_TEST_TOL);
assertEquals(a.unitAxisRotation.x,b.unitAxisRotation.x, GrlConstants.FLOAT_TEST_TOL);
assertEquals(a.unitAxisRotation.y,b.unitAxisRotation.y, GrlConstants.FLOAT_TEST_TOL);
assertEquals(a.unitAxisRotation.z,b.unitAxisRotation.z, GrlConstants.FLOAT_TEST_TOL);
}
}