TestRotation.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_ROTATION_H
#define META_OCEAN_TEST_TESTMATH_TEST_ROTATION_H
 
#include "ocean/test/testmath/TestMath.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestMath
{
 
/**
 * This class implements a rotation test.
 * @ingroup testmath
 */
class OCEAN_TEST_MATH_EXPORT TestRotation
{
    public:
 
        /**
         * Executes all rotation 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 default and basic constructors.
         * @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 testConstructors(const double testDuration);
 
        /**
         * Tests the matrix constructors (SquareMatrix3 and HomogenousMatrix4).
         * This test is critical for finding the maximum-finding bug.
         * @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 testMatrixConstructors(const double testDuration);
 
        /**
         * Tests the array 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 testArrayConstructor(const double testDuration);
 
        /**
         * Tests angle normalization (setAngle and constructors).
         * @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 testAngleNormalization(const double testDuration);
 
        /**
         * Tests the conversion from a rotation to 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 testConversionToQuaterion(const double testDuration);
 
        /**
         * Tests the conversion from a rotation to a homogenous matrix.
         * @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 testConversionToHomogenousMatrix(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 left_R_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_R_right(const double testDuration);
 
        /**
         * Tests the invert and inverted 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 testInversion(const double testDuration);
 
        /**
         * Tests the comparison operators (== and !=).
         * @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 testComparisonOperators(const double testDuration);
 
        /**
         * Tests the multiplication operators.
         * @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 testMultiplicationOperators(const double testDuration);
 
        /**
         * Tests the element access operators.
         * @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 testElementAccess(const double testDuration);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTMATH_TEST_ROTATION_H