From d567b859d32bbb7a6e9c9617151da6c985662500 Mon Sep 17 00:00:00 2001
From: wmayer <wmayer@users.sourceforge.net>
Date: Tue, 29 Aug 2023 15:13:07 +0200
Subject: [PATCH] Tests: add some more unit tests for Matrix class

---
 tests/src/Base/Matrix.cpp | 79 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)

diff --git a/tests/src/Base/Matrix.cpp b/tests/src/Base/Matrix.cpp
index 7527868776..962267c359 100644
--- a/tests/src/Base/Matrix.cpp
+++ b/tests/src/Base/Matrix.cpp
@@ -264,5 +264,84 @@ TEST(Matrix, TestSubAssign)
                         0.0, 0.0, 0.0, 0.0};
     EXPECT_EQ(mat1, mat4);
 }
+
+TEST(Matrix, TestHatOperator)
+{
+    Base::Vector3d vec{1.0, 2.0, 3.0};
+
+    Base::Matrix4D mat1;
+    mat1.Hat(vec);
+
+    Base::Matrix4D mat2{0.0, -vec.z, vec.y, 0.0,
+                        vec.z, 0.0, -vec.x, 0.0,
+                        -vec.y, vec.x, 0.0, 0.0,
+                        0.0, 0.0, 0.0, 1.0};
+
+    EXPECT_EQ(mat1, mat2);
+}
+
+TEST(Matrix, TestDyadic)
+{
+    Base::Vector3d vec{1.0, 2.0, 3.0};
+
+    Base::Matrix4D mat1;
+    mat1.Outer(vec, vec);
+
+    Base::Matrix4D mat2{1.0, 2.0, 3.0, 0.0,
+                        2.0, 4.0, 6.0, 0.0,
+                        3.0, 6.0, 9.0, 0.0,
+                        0.0, 0.0, 0.0, 1.0};
+
+    EXPECT_EQ(mat1, mat2);
+}
+
+TEST(Matrix, TestRotLine)
+{
+    Base::Vector3d axis{1.0, 2.0, 3.0};
+    double angle = 1.2345;
+
+    Base::Matrix4D mat1;
+    Base::Matrix4D mat2;
+    mat1.rotLine(axis, angle);
+
+    Base::Rotation rot(axis, angle);
+    rot.getValue(mat2);
+
+    EXPECT_EQ(mat1, mat2);
+}
+
+TEST(Matrix, TestRotAxisFormula) //NOLINT
+{
+    // R = I + sin(alpha)*P + (1-cos(alpha))*P^2
+    // with P = hat operator of a vector
+    Base::Vector3d axis{1.0, 2.0, 3.0};
+    double angle = 1.2345;
+
+    Base::Matrix4D mat1;
+    Base::Matrix4D mat2;
+    mat1.rotLine(axis, angle);
+
+    double fsin = std::sin(angle);
+    double fcos = std::cos(angle);
+    Base::Matrix4D unit;
+    Base::Matrix4D hat;
+    Base::Matrix4D hat2;
+
+    axis.Normalize();
+    hat.Hat(axis);
+
+    hat2 = hat * hat;
+    mat2 = unit + hat * fsin + hat2 * (1 - fcos);
+
+    EXPECT_DOUBLE_EQ(mat1[0][0], mat2[0][0]);
+    EXPECT_DOUBLE_EQ(mat1[0][1], mat2[0][1]);
+    EXPECT_DOUBLE_EQ(mat1[0][2], mat2[0][2]);
+    EXPECT_DOUBLE_EQ(mat1[1][0], mat2[1][0]);
+    EXPECT_DOUBLE_EQ(mat1[1][1], mat2[1][1]);
+    EXPECT_DOUBLE_EQ(mat1[1][2], mat2[1][2]);
+    EXPECT_DOUBLE_EQ(mat1[2][0], mat2[2][0]);
+    EXPECT_DOUBLE_EQ(mat1[2][1], mat2[2][1]);
+    EXPECT_DOUBLE_EQ(mat1[2][2], mat2[2][2]);
+}
 // clang-format on
 // NOLINTEND(cppcoreguidelines-*,readability-magic-numbers)