Test: add more unit tests

tests/src/Base/CoordinateSystem.cpp

@@ -0,0 +1,150 @@
+#include "gtest/gtest.h"
+#include <Base/CoordinateSystem.h>
+#include <Base/Exception.h>
+
+// NOLINTBEGIN
+TEST(CoordinateSystem, TestDefault)
+{
+    Base::CoordinateSystem cs;
+    EXPECT_EQ(cs.getPosition(), Base::Vector3d(0, 0, 0));
+    EXPECT_EQ(cs.getXDirection(), Base::Vector3d(1, 0, 0));
+    EXPECT_EQ(cs.getYDirection(), Base::Vector3d(0, 1, 0));
+    EXPECT_EQ(cs.getZDirection(), Base::Vector3d(0, 0, 1));
+}
+
+TEST(CoordinateSystem, TestSetAxisFailure)
+{
+    Base::CoordinateSystem cs;
+
+    EXPECT_THROW(cs.setAxes(Base::Vector3d(0, 0, 1), Base::Vector3d(0, 0, 1)), Base::ValueError);
+}
+
+TEST(CoordinateSystem, TestSetAxis)
+{
+    Base::CoordinateSystem cs;
+    Base::Axis axis;
+    axis.setBase(Base::Vector3d(1, 2, 3));
+    axis.setDirection(Base::Vector3d(1, 1, 1));
+    cs.setAxes(axis, Base::Vector3d(0, 0, 1));
+
+    EXPECT_EQ(cs.getPosition(), Base::Vector3d(1, 2, 3));
+    EXPECT_EQ(cs.getXDirection(), Base::Vector3d(-1, -1, 2).Normalize());
+    EXPECT_EQ(cs.getYDirection(), Base::Vector3d(1, -1, 0).Normalize());
+    EXPECT_EQ(cs.getZDirection(), Base::Vector3d(1, 1, 1).Normalize());
+}
+
+TEST(CoordinateSystem, TestSetXDir)
+{
+    Base::CoordinateSystem cs;
+    cs.setXDirection(Base::Vector3d(1, 1, 1));
+
+    EXPECT_EQ(cs.getXDirection(), Base::Vector3d(1, 1, 0).Normalize());
+    EXPECT_EQ(cs.getYDirection(), Base::Vector3d(-1, 1, 0).Normalize());
+    EXPECT_EQ(cs.getZDirection(), Base::Vector3d(0, 0, 1).Normalize());
+}
+
+TEST(CoordinateSystem, TestSetYDir)
+{
+    Base::CoordinateSystem cs;
+    cs.setYDirection(Base::Vector3d(1, 1, 1));
+
+    EXPECT_EQ(cs.getXDirection(), Base::Vector3d(1, -1, 0).Normalize());
+    EXPECT_EQ(cs.getYDirection(), Base::Vector3d(1, 1, 0).Normalize());
+    EXPECT_EQ(cs.getZDirection(), Base::Vector3d(0, 0, 1).Normalize());
+}
+
+TEST(CoordinateSystem, TestSetZDir)
+{
+    Base::CoordinateSystem cs;
+    cs.setZDirection(Base::Vector3d(1, 1, 1));
+
+    EXPECT_EQ(cs.getXDirection(), Base::Vector3d(2, -1, -1).Normalize());
+    EXPECT_EQ(cs.getYDirection(), Base::Vector3d(0, 1, -1).Normalize());
+    EXPECT_EQ(cs.getZDirection(), Base::Vector3d(1, 1, 1).Normalize());
+}
+
+TEST(CoordinateSystem, TestTransformPlacement)
+{
+    Base::CoordinateSystem cs;
+    Base::CoordinateSystem csT;
+    Base::Placement plm;
+    plm.setPosition(Base::Vector3d(1, 2, 3));
+    plm.setRotation(Base::Rotation(1, 1, 2, 2));
+    csT.transform(plm);
+
+    Base::Placement dis = cs.displacement(csT);
+    EXPECT_EQ(plm, dis);
+
+    Base::Placement disT = csT.displacement(cs);
+    EXPECT_EQ(plm.inverse(), disT);
+}
+
+TEST(CoordinateSystem, TestMultTransformPlacement)
+{
+    Base::CoordinateSystem cs;
+    Base::CoordinateSystem csT;
+    Base::Placement plm;
+    plm.setPosition(Base::Vector3d(1, 2, 3));
+    plm.setRotation(Base::Rotation(1, 1, 2, 2));
+    csT.transform(plm);
+    csT.transform(plm);
+
+    plm = plm * plm;
+
+    Base::Placement dis = cs.displacement(csT);
+    EXPECT_EQ(plm.isSame(dis, 0.001), true);
+
+    Base::Placement disT = csT.displacement(cs);
+    EXPECT_EQ(plm.inverse().isSame(disT, 0.001), true);
+}
+
+TEST(CoordinateSystem, TestTransformRotation)
+{
+    Base::CoordinateSystem cs;
+    Base::CoordinateSystem csT;
+    Base::Rotation rot(1, 1, 2, 2);
+    csT.transform(rot);
+
+    Base::Placement dis = cs.displacement(csT);
+    EXPECT_EQ(rot, dis.getRotation());
+
+    Base::Placement disT = csT.displacement(cs);
+    EXPECT_EQ(rot.inverse(), disT.getRotation());
+}
+
+TEST(CoordinateSystem, TestTransformPoint)
+{
+    Base::CoordinateSystem cs;
+    Base::CoordinateSystem csT;
+    Base::Placement plm;
+    plm.setPosition(Base::Vector3d(1, 2, 3));
+    plm.setRotation(Base::Rotation(1, 1, 2, 2));
+    csT.transform(plm);
+
+    Base::Vector3d src(-1, 5, 3), dst;
+    plm.inverse().multVec(src, dst);
+    csT.transformTo(src);
+
+    EXPECT_EQ(src, dst);
+}
+
+TEST(CoordinateSystem, TestSetPlacement)
+{
+    Base::CoordinateSystem cs;
+    Base::CoordinateSystem csT;
+    Base::Placement plm;
+    plm.setPosition(Base::Vector3d(1, 2, 3));
+    plm.setRotation(Base::Rotation(1, 1, 2, 2));
+    csT.transform(plm);
+    csT.transform(plm);
+    csT.transform(plm);
+    csT.setPlacement(plm);
+
+    Base::Placement dis = cs.displacement(csT);
+    EXPECT_EQ(plm, dis);
+
+    Base::Placement disT = csT.displacement(cs);
+    EXPECT_EQ(plm.inverse(), disT);
+}
+
+// NOLINTEND