TestTracker6DOF.h

Go to the documentation of this file.

/*
 * 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_TESTDEVICES_TEST_TRACKER_6DOF_H
#define META_OCEAN_TEST_TESTDEVICES_TEST_TRACKER_6DOF_H
 
#include "ocean/test/testdevices/TestDevices.h"
 
#include "ocean/base/Timestamp.h"
 
#include "ocean/math/Quaternion.h"
#include "ocean/math/Vector3.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestDevices
{
 
/**
 * This class implements tests for the Tracker6DOF class.
 * @ingroup testdevices
 */
class OCEAN_TEST_DEVICES_EXPORT TestTracker6DOF
{
    public:
 
        /**
         * Invokes all tests.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param selector The selector defining which tests will be executed
         * @return True, if succeeded
         */
        static bool test(const double testDuration, const TestSelector& selector);
 
        /**
         * Tests the sample() function with random measurements and all interpolation strategies.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testSampleInterpolation(const double testDuration);
 
    protected:
 
        /**
         * Computes the expected interpolated orientation for a given query timestamp.
         * @param queryTime The query timestamp
         * @param timestamps The sample timestamps (must be sorted)
         * @param orientations The orientation quaternions
         * @return The expected interpolated orientation
         */
        static Quaternion expectedInterpolatedOrientation(const double queryTime, const Timestamps& timestamps, const Quaternions& orientations);
 
        /**
         * Computes the expected interpolated position for a given query timestamp.
         * @param queryTime The query timestamp
         * @param timestamps The sample timestamps (must be sorted)
         * @param positions The position vectors
         * @return The expected interpolated position
         */
        static Vector3 expectedInterpolatedPosition(const double queryTime, const Timestamps& timestamps, const Vectors3& positions);
};
 
} // namespace TestDevices
 
} // namespace Test
 
} // namespace Ocean
 
#endif // META_OCEAN_TEST_TESTDEVICES_TEST_TRACKER_6DOF_H