TestSphericalExponentialMap.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_SPHERICAL_EXPONENTIAL_MAP_H
#define META_OCEAN_TEST_TESTMATH_TEST_SPHERICAL_EXPONENTIAL_MAP_H
 
#include "ocean/test/testmath/TestMath.h"
 
#include "ocean/test/TestSelector.h"
 
#include "ocean/math/SphericalExponentialMap.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestMath
{
 
/**
 * This class implements a test for SphericalExponentialMap.
 * @ingroup testmath
 */
class OCEAN_TEST_MATH_EXPORT TestSphericalExponentialMap
{
    public:
 
        /**
         * Executes all 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 constructor taking a reference vector and an offset vector.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testConstructorFromVectors(const double testDuration);
 
    protected:
 
        /**
         * Verifies the contract of the class, `offset == SphericalExponentialMap(reference, offset).rotation() * reference`.
         * @param sphericalExponentialMap The object to be verified
         * @param reference The reference vector which has been used to create the object, must have unit length
         * @param offset The offset vector which has been used to create the object, must have unit length
         * @return True, if so
         */
        static bool verifyRotation(const SphericalExponentialMap& sphericalExponentialMap, const Vector3& reference, const Vector3& offset);
};
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTMATH_TEST_SPHERICAL_EXPONENTIAL_MAP_H