TestEigenUtilities.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TEST_TESTCV_TEST_EIGEN_UTILITIES_H
#define META_OCEAN_TEST_TESTCV_TEST_EIGEN_UTILITIES_H
 
#include "ocean/test/testcv/TestCV.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestCV
{
 
/**
 * This class implements tests for the EigenUtilities class.
 * @ingroup testcv
 */
class OCEAN_TEST_CV_EXPORT TestEigenUtilities
{
    public:
 
        /**
         * Invokes all tests.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool test(const double testDuration);
 
        /**
         * Tests the frame to matrix conversion function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testFrame2Matrix(const double testDuration);
 
        /**
         * Tests the conversion of Ocean VectorT2 to Eigen::Vector2T
         * @param testDuration Number of seconds that this test is rung, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testToEigenVector(const double testDuration);
 
        /**
         * Tests the conversion of Eigen::Vector2T to Ocean VectorT2
         * @param testDuration Number of seconds that this test is rung, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testToOceanVector(const double testDuration);
 
        /**
         * Tests the conversion of Ocean::QuaternionT<T> to Eigen::Quaternion<T>
         * @param testDuration Number of seconds that this test is rung, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testToEigenQuaternion(const double testDuration);
 
        /**
         * Tests the conversion of Eigen::Quaternion<T> to Ocean::QuaternionT<T>
         * @param testDuration Number of seconds that this test is rung, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testToOceanQuaternion(const double testDuration);
 
    protected:
 
        /**
         * Tests the frame to matrix conversion function for a specific source type and target type.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam TSource The data type of each source element
         * @tparam TTarget The data type of each target element
         */
        template <typename TSource, typename TTarget>
        static bool testFrame2Matrix(const double testDuration);
 
        /**
         * Tests the conversion of Ocean VectorT{2,3,4}T to Eigen::Vector{2,3,4}T
         * @param testDuration Number of seconds that this test will be run, range: (0, infinity)
         * @return True if the test passed, otherwise false
         * @tparam TType The type of the vector elements, must be either `int`, `float`, or `double`
         * @tparam tElements Number of vector elements, range: [2, 4]
         * @tparam TOceanVector The type of the Ocean vector that has `tElements` elements of type `TType`, e.g., `TType=int` and `tElements=3` then `TOceanVector=VectorI3`
         */
        template <typename TType, size_t tElements, typename TOceanVector>
        static bool testToEigenVector(const double testDuration);
 
        /**
         * Tests the conversion of Eigen::Vector{2,3,4}T to Ocean VectorT{2,3,4}T
         * @param testDuration Number of seconds that this test will be run, range: (0, infinity)
         * @return True if the test passed, otherwise false
         * @tparam TType The type of the vector elements, must be either `int`, `float`, or `double`
         * @tparam tElements Number of vector elements, range: [2, 4]
         * @tparam TOceanVector The type of the Ocean vector that has `tElements` elements of type `TType`, e.g., `TType=int` and `tElements=3` then `TOceanVector=VectorI3`
         */
        template <typename TType, size_t tElements, typename TOceanVector>
        static bool testToOceanVector(const double testDuration);
 
        /**
         * Tests the conversion of Ocean::QuaternionT<T> to Eigen::Quaternion<T>
         * @param testDuration Number of seconds that this test is rung, with range (0, infinity)
         * @return True, if succeeded
         * @tparam TType Type of the quaternion elements, must be either {float, double}
         */
        template <typename TType>
        static bool testToEigenQuaternion(const double testDuration);
 
        /**
         * Tests the conversion of Eigen::Quaternion<T> to Ocean::QuaternionT<T>
         * @param testDuration Number of seconds that this test is rung, with range (0, infinity)
         * @return True, if succeeded
         * @tparam TType Type of the quaternion elements, must be either {float, double}
         */
        template <typename TType>
        static bool testToOceanQuaternion(const double testDuration);
};
 
} // namespace CV
 
} // namespace Test
 
} // namespace Ocean
 
#endif // META_OCEAN_TEST_TESTCV_TEST_EIGEN_UTILITIES_H