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1 package JSci.tests;
2
3 import JSci.maths.Quaternion;
4
5
9 public class QuaternionTest extends junitx.extensions.EqualsHashCodeTestCase {
10 private double w, x, y, z;
11 private double s, t, u, v;
12
13 public static void main(String  arg[]) {
14 junit.textui.TestRunner.run(QuaternionTest.class);
15 }
16 public QuaternionTest(String name) {
17 super(name);
18 }
19 protected void setUp() throws Exception {
20 JSci.GlobalSettings.ZERO_TOL=1.0e-10;
21 w = Math.random();
22 x = Math.random();
23 y = Math.random();
24 z = Math.random();
25 s = Math.random();
26 t = Math.random();
27 u = Math.random();
28 v = Math.random();
29 super.setUp();
30 }
31 protected Object createInstance() {
32 return new Quaternion(w, x, y, z);
33 }
34 protected Object createNotEqualInstance() {
35 return new Quaternion(s, t, u, v);
36 }
37 public void testExp() {
38 Quaternion expected = (Quaternion) createInstance();
39 Quaternion actual=Quaternion.exp(Quaternion.log(expected));
40 assertEquals(expected, actual);
41 }
42 public void testRotationMatrixConversion() {
43 Quaternion expected = (Quaternion) createInstance();
44 expected = expected.divide(expected.norm());
46 Quaternion actual = Quaternion.rotation(expected.toRotationMatrix());
47 assertEquals(expected, actual);
48 }
49 }
50
51 |
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