/** 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));
}
@Test
public void cross_2d_3d() {
Vector2D_F64 aa = new Vector2D_F64(0.75, 2);
Vector3D_F64 a = new Vector3D_F64(0.75, 2, 1);
Vector3D_F64 b = new Vector3D_F64(3, 0.1, 4);
Vector3D_F64 expected = new Vector3D_F64();
Vector3D_F64 found = new Vector3D_F64();
GeometryMath_F64.cross(a, b, expected);
GeometryMath_F64.cross(aa, b, found);
assertEquals(expected.x, found.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(expected.y, found.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(expected.z, found.z, GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void mult_2d_3d() {
Vector3D_F64 a3 = new Vector3D_F64(-1, 2, 1);
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 2, 3, 4, 5, 6, 7, 8, 9);
Vector3D_F64 expected = new Vector3D_F64();
GeometryMath_F64.mult(M, a3, expected);
Vector2D_F64 a2 = new Vector2D_F64(-1, 2);
Vector3D_F64 found = new Vector3D_F64();
GeometryMath_F64.mult(M, a2, found);
assertEquals(expected.x, found.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(expected.y, found.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(expected.z, found.z, GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void dot() {
Vector3D_F64 a = new Vector3D_F64(2, -2, 3);
Vector3D_F64 b = new Vector3D_F64(4, 3, 2);
double found = GeometryMath_F64.dot(a, b);
assertEquals(8, found, GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void scale() {
Vector3D_F64 a = new Vector3D_F64(1, -2, 3);
GeometryMath_F64.scale(a, 2);
assertEquals(2, a.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(-4, a.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(6, a.z, GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void changeSign() {
Vector3D_F64 a = new Vector3D_F64(1, -2, 3);
GeometryMath_F64.changeSign(a);
assertEquals(-1, a.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(2, a.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(-3, a.z, GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void cross_3d_3d() {
Vector3D_F64 a = new Vector3D_F64(1, 0, 0);
Vector3D_F64 b = new Vector3D_F64(0, 1, 0);
Vector3D_F64 c = new Vector3D_F64();
GeometryMath_F64.cross(a, b, c);
assertEquals(0, c.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(0, c.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(1, c.z, GrlConstants.DOUBLE_TEST_TOL);
GeometryMath_F64.cross(b, a, c);
assertEquals(0, c.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(0, c.y, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(-1, c.z, GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void innerProd_2D() {
Vector2D_F64 a = new Vector2D_F64(2, -2);
Vector2D_F64 b = new Vector2D_F64(4, 3);
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 2, 3, 4, 5, 6, 7, 8, 9);
double found = GeometryMath_F64.innerProd(a, M, b);
assertEquals(13, 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);
}
@Test
public void mult_3d_2d() {
Vector3D_F64 a = new Vector3D_F64(-1, 2, 3);
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 2, 3, 4, 5, 6, 7, 8, 9);
Vector2D_F64 c = new Vector2D_F64();
GeometryMath_F64.mult(M, a, c);
assertEquals(12.0 / 36.0, c.getX(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(24.0 / 36.0, c.getY(), GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void add_scale() {
Vector3D_F64 a = new Vector3D_F64(1, 2, 3);
Vector3D_F64 b = new Vector3D_F64(3, 1, 4);
Vector3D_F64 c = new Vector3D_F64();
GeometryMath_F64.add(2, a, -1, b, c);
assertEquals(-1, c.getX(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(3, c.getY(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(2, c.getZ(), GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void sub() {
Vector3D_F64 a = new Vector3D_F64(1, 2, 3);
Vector3D_F64 b = new Vector3D_F64(3, 1, 4);
Vector3D_F64 c = new Vector3D_F64();
GeometryMath_F64.sub(a, b, c);
assertEquals(-2, c.getX(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(1, c.getY(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(-1, c.getZ(), GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void multTran_2d_3d() {
Vector2D_F64 a = new Vector2D_F64(-1, 2);
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 2, 3, 4, 5, 6, 7, 8, 9);
Vector3D_F64 c = new Vector3D_F64();
GeometryMath_F64.multTran(M, a, c);
assertEquals(14, c.getX(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(16, c.getY(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(18, c.getZ(), GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void outerProd_3D() {
Vector3D_F64 a = new Vector3D_F64(2, -2, 5);
Vector3D_F64 b = new Vector3D_F64(4, 3, 9);
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 2, 3, 4, 5, 6, 7, 8, 9);
DenseMatrix64F expected = new DenseMatrix64F(3, 3, true, 8, 6, 18, -8, -6, -18, 20, 15, 45);
GeometryMath_F64.outerProd(a, b, M);
assertTrue(MatrixFeatures.isIdentical(expected, M, GrlConstants.DOUBLE_TEST_TOL));
}
@Test
public void addMult() {
Vector3D_F64 a = new Vector3D_F64(1, 2, 3);
Vector3D_F64 b = new Vector3D_F64(2, 3, 4);
Vector3D_F64 c = new Vector3D_F64();
DenseMatrix64F M = new DenseMatrix64F(3, 3, true, 1, 1, 1, 1, 1, 1, 1, 1, 1);
GeometryMath_F64.addMult(a, M, b, c);
assertEquals(10, c.getX(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(11, c.getY(), GrlConstants.DOUBLE_TEST_TOL);
assertEquals(12, c.getZ(), GrlConstants.DOUBLE_TEST_TOL);
}
@Test
public void rotate_2d_theta() {
Vector2D_F64 a = new Vector2D_F64(1, 2);
double theta = 0.6;
Vector2D_F64 b = new Vector2D_F64();
GeometryMath_F64.rotate(theta, a, b);
double c = Math.cos(theta);
double s = Math.sin(theta);
double x = c * a.x - s * a.y;
double y = s * a.x + c * a.y;
assertEquals(x, b.x, GrlConstants.DOUBLE_TEST_TOL);
assertEquals(y, b.y, GrlConstants.DOUBLE_TEST_TOL);
}