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Base: extend Placement/Rotation API

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* Add Placement::isSame() and expose to Python
* Add Placement::multRight/Placement::multLeft
* Fix PlacementPy::rotate
* Add Rotation::multRight/Rotation::multLeft
* Add a test feature FeatureTestPlacement for uni tests
* Add unit tests
This commit is contained in:
wmayer
2022-08-09 11:54:05 +02:00
parent 6067b18774
commit 91ea39a5c0
11 changed files with 217 additions and 20 deletions
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46
src/Base/Rotation.cpp
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@@ -351,7 +351,31 @@ Rotation Rotation::inverse() const
return rot;
}
/*!
Let this rotation be right-multiplied by \a q. Returns reference to
self.
\sa multRight()
*/
Rotation & Rotation::operator*=(const Rotation & q)
{
return multRight(q);
}
Rotation Rotation::operator*(const Rotation & q) const
{
Rotation quat(*this);
quat *= q;
return quat;
}
/*!
Let this rotation be right-multiplied by \a q. Returns reference to
self.
\sa multLeft()
*/
Rotation& Rotation::multRight(const Base::Rotation& q)
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
double x0, y0, z0, w0;
@@ -366,11 +390,25 @@ Rotation & Rotation::operator*=(const Rotation & q)
return *this;
}
Rotation Rotation::operator*(const Rotation & q) const
/*!
Let this rotation be left-multiplied by \a q. Returns reference to
self.
\sa multRight()
*/
Rotation& Rotation::multLeft(const Base::Rotation& q)
{
Rotation quat(*this);
quat *= q;
return quat;
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
double x0, y0, z0, w0;
q.getValue(x0, y0, z0, w0);
double x1, y1, z1, w1;
this->getValue(x1, y1, z1, w1);
this->setValue(w0*x1 + x0*w1 + y0*z1 - z0*y1,
w0*y1 - x0*z1 + y0*w1 + z0*x1,
w0*z1 + x0*y1 - y0*x1 + z0*w1,
w0*w1 - x0*x1 - y0*y1 - z0*z1);
return *this;
}
bool Rotation::operator==(const Rotation & q) const