TestQuaternion.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_TESTMATH_TEST_QUATERNION_H
#define META_OCEAN_TEST_TESTMATH_TEST_QUATERNION_H
 
#include "ocean/test/testmath/TestMath.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestMath
{
 
/**
 * This class implements a quaternion test.
 * @ingroup testmath
 */
class OCEAN_TEST_MATH_EXPORT TestQuaternion
{
    public:
 
        /**
         * Executes all quaternion tests.
         * @param testDuration Number of seconds for each test
         * @param selector The test selector
         * @return True, if succeeded
         */
        static bool test(const double testDuration, const TestSelector& selector);
 
        /**
         * Tests the messenger function.
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testWriteToMessenger();
 
        /**
         * Tests the constructor.
         * @param testDuration Number of seconds for each test
         * @return True, if succeeded
         */
        static bool testConstructor(const double testDuration);
 
        /**
         * Tests the normalization of a quaternion.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testNormalization(const double testDuration);
 
        /**
         * Tests the inverting of a quaternion.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testInverting(const double testDuration);
 
        /**
         * Tests the conversion from a quaternion to a rotation.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testConversionToRotation(const double testDuration);
 
        /**
         * Tests the reference-offset constructor.
         * @param testDuration Number of seconds for each test
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testReferenceOffsetConstructor(const double testDuration);
 
        /**
         * Tests the let_Q_right functions.
         * @param testDuration Number of seconds for each test
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testLeft_Q_right(const double testDuration);
 
        /**
         * Tests the calculation of the Quaternion's angle.
         * @param testDuration Number of seconds for each test
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testAngle(const double testDuration);
 
        /**
         * Tests the slerp function.
         * @param testDuration Number of seconds for each test
         * @return True, if succeeded
         * @tparam T The data type of the scalar value to be used
         */
        template <typename T>
        static bool testSlerp(const double testDuration);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTMATH_TEST_QUATERNION_H