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#define BOOST_TEST_MAIN

#define BOOST_TEST_MODULE Frame

#include <boost/test/floating_point_comparison.hpp>

#include <boost/test/unit_test.hpp>



#include "../geometry/Constants.hpp"

#include "Frame.hpp"



using namespace Vamos_Body;

using namespace Vamos_Geometry;



struct Default_Frame_Fixture

{

    Frame frame;

};



struct Position_Frame_Fixture

{

    Position_Frame_Fixture() : frame(Three_Vector(1.0, 2.0, -3.0)){};

    Frame frame;

};



const Three_Vector null_vector(0.0, 0.0, 0.0);

const Three_Vector ones(1.0, 1.0, 1.0);

const Three_Matrix identity;



// Rotate the identity 120 degrees about [1,1,1].  This moves z to x, x to y and y to z.

const Three_Matrix rotated(Three_Matrix().rotate(ones.unit() * two_pi / 3.0));



struct Orientation_Frame_Fixture

{

    Orientation_Frame_Fixture() : frame(null_vector, rotated) {};

    Frame frame;

};



struct Position_and_Orientation_Frame_Fixture

{

    Position_and_Orientation_Frame_Fixture() : frame(Three_Vector(1.0, 2.0, -3.0), rotated) {}

    Frame frame;

};



BOOST_AUTO_TEST_CASE(defaults)

{

    Default_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.position(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.velocity(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.orientation(), identity);

    BOOST_CHECK_EQUAL(f.frame.angular_velocity(), null_vector);

}



BOOST_AUTO_TEST_CASE(initial_position)

{

    Position_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.position(), Three_Vector(1.0, 2.0, -3.0));

    BOOST_CHECK_EQUAL(f.frame.velocity(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.orientation(), identity);

    BOOST_CHECK_EQUAL(f.frame.angular_velocity(), null_vector);

}



BOOST_AUTO_TEST_CASE(initial_position_and_orientation)

{

    Position_and_Orientation_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.position(), Three_Vector(1.0, 2.0, -3.0));

    BOOST_CHECK_EQUAL(f.frame.velocity(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.orientation(), rotated);

    BOOST_CHECK_EQUAL(f.frame.angular_velocity(), null_vector);

}



BOOST_AUTO_TEST_CASE(translate)

{

    Position_Frame_Fixture f;

    f.frame.translate(Three_Vector(-1.0, 0.0, 1.0));

    BOOST_CHECK_EQUAL(f.frame.position(), Three_Vector(0.0, 2.0, -2.0));

    BOOST_CHECK_EQUAL(f.frame.velocity(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.orientation(), identity);

    BOOST_CHECK_EQUAL(f.frame.angular_velocity(), null_vector);

}



BOOST_AUTO_TEST_CASE(set_position)

{

    Position_Frame_Fixture f;

    f.frame.set_position(Three_Vector(-1.0, 0.0, 1.0));

    BOOST_CHECK_EQUAL(f.frame.position(), Three_Vector(-1.0, 0.0, 1.0));

    BOOST_CHECK_EQUAL(f.frame.velocity(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.orientation(), identity);

    BOOST_CHECK_EQUAL(f.frame.angular_velocity(), null_vector);

}



BOOST_AUTO_TEST_CASE(rotate)

{

    Orientation_Frame_Fixture f;

    f.frame.rotate(-ones.unit() * 2.0 * pi / 3.0);

    BOOST_CHECK_EQUAL(f.frame.position(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.velocity(), null_vector);

    BOOST_CHECK_EQUAL(f.frame.angular_velocity(), null_vector);



    Three_Matrix o = f.frame.orientation();

    for (size_t i = 0; i < 3; i++)

    {

        for (size_t j = 0; j < 3; j++)

        {

            if (i == j)

                BOOST_CHECK_CLOSE(o[i][j], 1.0, 1e-4);

            else

                BOOST_CHECK_SMALL(o[i][j], 1e-4);

        }

    }

}



BOOST_AUTO_TEST_CASE(transform_into_default)

{

    Default_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_from_world(ones), ones);

}



BOOST_AUTO_TEST_CASE(transform_into_position)

{

    Position_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_from_world(ones), Three_Vector(0.0, -1.0, 4.0));

}



BOOST_AUTO_TEST_CASE(transform_into_position_and_orientation)

{

    Position_and_Orientation_Frame_Fixture f;

    Three_Vector in = f.frame.transform_from_world(ones);

    BOOST_CHECK_CLOSE(in.x, -1.0, 1e-4);

    BOOST_CHECK_CLOSE(in.y, 4.0, 1e-4);

    BOOST_CHECK_SMALL(in.z, 1e-4);

}



BOOST_AUTO_TEST_CASE(transform_to_world_default)

{

    Default_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_to_world(ones), ones);

}



BOOST_AUTO_TEST_CASE(transform_to_world_position)

{

    Position_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_to_world(ones), Three_Vector(2.0, 3.0, -2.0));

}



BOOST_AUTO_TEST_CASE(transform_to_world_orientation)

{

    Orientation_Frame_Fixture f;

    Three_Vector out = f.frame.transform_to_world(Three_Vector(1.0, 0.0, 0.0));

    BOOST_CHECK_SMALL(out.x, 1e-4);

    BOOST_CHECK_CLOSE(out.y, 1.0, 1e-4);

    BOOST_CHECK_SMALL(out.z, 1e-4);

}



BOOST_AUTO_TEST_CASE(transform_to_world_position_and_orientation)

{

    Position_and_Orientation_Frame_Fixture f;

    Three_Vector out = f.frame.transform_to_world(Three_Vector(1.0, 0.0, 0.0));

    BOOST_CHECK_CLOSE(out.x, 1.0, 1e-4);

    BOOST_CHECK_CLOSE(out.y, 3.0, 1e-4);

    BOOST_CHECK_CLOSE(out.z, -3.0, 1e-4);

}



BOOST_AUTO_TEST_CASE(rotate_out_position_and_orientation)

{

    Position_and_Orientation_Frame_Fixture f;

    Three_Vector out = f.frame.rotate_to_parent(Three_Vector(1.0, 0.0, 0.0));

    BOOST_CHECK_SMALL(out.x, 1e-4);

    BOOST_CHECK_CLOSE(out.y, 1.0, 1e-4); // x' is y

    BOOST_CHECK_SMALL(out.z, 1e-4);

}



BOOST_AUTO_TEST_CASE(copy_rotate_out_position_and_orientation)

{

    Position_and_Orientation_Frame_Fixture f;

    Frame g(f.frame);

    Three_Vector out = g.rotate_to_parent(Three_Vector(1.0, 0.0, 0.0));

    BOOST_CHECK_SMALL(out.x, 1e-4);

    BOOST_CHECK_CLOSE(out.y, 1.0, 1e-4); // x' is y

    BOOST_CHECK_SMALL(out.z, 1e-4);

}



BOOST_AUTO_TEST_CASE(rotate_in_position_and_orientation)

{

    Position_and_Orientation_Frame_Fixture f;

    Three_Vector out = f.frame.rotate_from_parent(Three_Vector(1.0, 0.0, 0.0));

    BOOST_CHECK_SMALL(out.x, 1e-4);

    BOOST_CHECK_SMALL(out.y, 1e-4);

    BOOST_CHECK_CLOSE(out.z, 1.0, 1e-4); // x is z'

}



struct Nested_Frame_Fixture

{

    Nested_Frame_Fixture()

        : parent(Three_Vector(1.0, 2.0, 3.0)), frame(Three_Vector(2.0, 3.0, 4.0), &parent)

    {}

    Frame parent;

    Frame frame;

};



BOOST_AUTO_TEST_CASE(transform_to_parent)

{

    Nested_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_to_parent(Three_Vector(3.0, 4.0, 5.0)),

                      Three_Vector(5.0, 7.0, 9.0));

}



BOOST_AUTO_TEST_CASE(transform_to_world)

{

    Nested_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_to_world(Three_Vector(3.0, 4.0, 5.0)),

                      Three_Vector(6.0, 9.0, 12.0));

}



BOOST_AUTO_TEST_CASE(transform_from_parent)

{

    Nested_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_from_parent(Three_Vector(3.0, 4.0, 5.0)),

                      Three_Vector(1.0, 1.0, 1.0));

}



BOOST_AUTO_TEST_CASE(transform_from_world)

{

    Nested_Frame_Fixture f;

    BOOST_CHECK_EQUAL(f.frame.transform_from_world(Three_Vector(3.0, 4.0, 5.0)),

                      Three_Vector(0.0, -1.0, -2.0));

}