/** Sees if both crossMatrix functions produce the same output */
@Test
public void crossMatrix_sameOut() {
double a = 1.1, b = -0.5, c = 2.2;
Vector3D_F64 v = new Vector3D_F64(a, b, c);
DenseMatrix64F V1 = GeometryMath_F64.crossMatrix(v, null);
DenseMatrix64F V2 = GeometryMath_F64.crossMatrix(a, b, c, null);
assertTrue(MatrixFeatures.isIdentical(V1, V2, 1e-8));
}
@Test
public void multCrossA_2d() {
Vector2D_F64 a = new Vector2D_F64(-1, 2);
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 2, 3, 4, 5, 6, 7, 8, 9);
DenseMatrix64F a_hat = GeometryMath_F64.crossMatrix(a.x, a.y, 1, null);
DenseMatrix64F expected = new DenseMatrix64F(3, 3);
CommonOps.mult(a_hat, M, expected);
DenseMatrix64F found = GeometryMath_F64.multCrossA(a, M, null);
assertTrue(MatrixFeatures.isIdentical(expected, found, GrlConstants.DOUBLE_TEST_TOL));
}
/** Sees if crossMatrix produces a valid output */
@Test
public void crossMatrix_validOut() {
double a = 1.1, b = -0.5, c = 2.2;
Vector3D_F64 v = new Vector3D_F64(a, b, c);
Vector3D_F64 x = new Vector3D_F64(7.6, 2.9, 0.5);
Vector3D_F64 found0 = new Vector3D_F64();
Vector3D_F64 found1 = new Vector3D_F64();
GeometryMath_F64.cross(v, x, found0);
DenseMatrix64F V = GeometryMath_F64.crossMatrix(a, b, c, null);
GeometryMath_F64.mult(V, x, found1);
assertEquals(found0.x, found1.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(found0.y, found1.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(found0.z, found1.z, GrlConstants.DOUBLE_TEST_TOL);
}
