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Test: add unit tests for Matrix4D::decompose()

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This commit is contained in:
wmayer
2023-10-19 15:00:46 +02:00
committed by wwmayer
parent 2265198ffe
commit 334ca6a416
3 changed files with 123 additions and 0 deletions
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55
src/Mod/Test/BaseTests.py
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@@ -363,6 +363,61 @@ class AlgebraTestCase(unittest.TestCase):
p.Rotation.Angle = math.pi / 2
self.assertEqual(abs(p.inverse().Rotation.Angle), p.Rotation.Angle)
def testDecomposeScale(self):
mat = FreeCAD.Matrix()
mat.scale(FreeCAD.Vector(2, 3, 4))
res = mat.decompose()
self.assertTrue(res[0].isUnity())
self.assertEqual(res[1], mat)
self.assertTrue(res[2].isUnity())
self.assertTrue(res[3].isUnity())
def testDecomposeRotation(self):
mat = FreeCAD.Matrix()
mat.rotateX(1)
mat.rotateY(1)
mat.rotateZ(1)
res = mat.decompose()
self.assertTrue(res[0].isUnity())
self.assertTrue(res[1].isUnity(1e-12))
self.assertEqual(res[2], mat)
self.assertTrue(res[3].isUnity())
def testDecomposeMove(self):
mat = FreeCAD.Matrix()
mat.move(FreeCAD.Vector(1, 2, 3))
res = mat.decompose()
self.assertTrue(res[0].isUnity())
self.assertTrue(res[1].isUnity())
self.assertTrue(res[2].isUnity())
self.assertEqual(res[3], mat)
def testMatrixDecompose(self):
mat = FreeCAD.Matrix()
mat.A21 = 1.0
mat.A14 = 1.0
mat.A24 = 2.0
mat.A34 = 3.0
res = mat.decompose()
mul = res[3] * res[2] * res[1] * res[0]
self.assertEqual(mul, mat)
# shearing
self.assertAlmostEqual(res[0].determinant(), 1.0)
# scaling
self.assertEqual(res[1].hasScale(), FreeCAD.ScaleType.NonUniformLeft)
# rotation
rot1 = FreeCAD.Rotation(res[2])
rot2 = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1), 45)
self.assertTrue(rot1.isSame(rot2, 1e-12))
# translation
plm = FreeCAD.Placement(res[3])
self.assertEqual(plm.Base, FreeCAD.Vector(1, 2, 3))
def testYawPitchRoll(self):
def getYPR1(yaw, pitch, roll):
r = FreeCAD.Rotation()

58
tests/src/Base/Matrix.cpp
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@@ -295,6 +295,64 @@ TEST(Matrix, TestDyadic)
EXPECT_EQ(mat1, mat2);
}
TEST(Matrix, TestDecomposeScale)
{
Base::Matrix4D mat;
mat.scale(1.0, 2.0, 3.0);
auto res = mat.decompose();
EXPECT_TRUE(res[0].isUnity());
EXPECT_EQ(res[1], mat);
EXPECT_TRUE(res[2].isUnity());
EXPECT_TRUE(res[3].isUnity());
}
TEST(Matrix, TestDecomposeRotation)
{
Base::Matrix4D mat;
mat.rotX(1.0);
mat.rotY(1.0);
mat.rotZ(1.0);
auto res = mat.decompose();
EXPECT_TRUE(res[0].isUnity(1e-12));
EXPECT_TRUE(res[1].isUnity(1e-12));
EXPECT_EQ(res[2], mat);
EXPECT_TRUE(res[3].isUnity(1e-12));
}
TEST(Matrix, TestDecomposeMove)
{
Base::Matrix4D mat;
mat.move(1.0, 2.0, 3.0);
auto res = mat.decompose();
EXPECT_TRUE(res[0].isUnity());
EXPECT_TRUE(res[1].isUnity());
EXPECT_TRUE(res[2].isUnity());
EXPECT_EQ(res[3], mat);
}
TEST(Matrix, TestDecompose)
{
Base::Matrix4D mat;
mat[0][0] = 1.0;
mat[0][3] = 1.0;
mat[1][3] = 2.0;
mat[2][3] = 3.0;
auto res = mat.decompose();
Base::Matrix4D mul = res[3] * res[2] * res[1] * res[0];
EXPECT_EQ(mul, mat);
// shearing
EXPECT_DOUBLE_EQ(res[0].determinant3(), 1.0);
// rotation
EXPECT_DOUBLE_EQ(res[2].determinant3(), 1.0);
// translation
EXPECT_DOUBLE_EQ(res[2].determinant3(), 1.0);
}
TEST(Matrix, TestRotLine)
{
Base::Vector3d axis{1.0, 2.0, 3.0};

10
tests/src/Base/Rotation.cpp
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@@ -67,4 +67,14 @@ TEST(Rotation, TestUniformScaleLT1)
EXPECT_EQ(scaled_rot.isSame(scaled_rot, 1.0e-7), true);
}
TEST(Rotation, TestRotationDecompose)
{
Base::Matrix4D mat;
mat.setCol(0, Base::Vector3d {1, 0, 0});
mat.setCol(1, Base::Vector3d {1, 1, 0});
mat.setCol(2, Base::Vector3d {0, 0, 1});
// decompose rotation part
EXPECT_TRUE(Base::Rotation {mat}.isIdentity());
}
// NOLINTEND(cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers)