ceph/src/boost/libs/qvm/test/rotz_quat_test.cpp

   1 //Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc.
   2
   3 //Distributed under the Boost Software License, Version 1.0. (See accompanying
   4 //file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
   5
   6 #include <boost/qvm/quat_operations.hpp>
   7 #include <boost/qvm/mat_operations.hpp>
   8 #include <boost/qvm/quat.hpp>
   9 #include "test_qvm_quaternion.hpp"
  10 #include "test_qvm_matrix.hpp"
  11 #include "gold.hpp"
  12
  13 namespace
  14     {
  15     void
  16     test()
  17         {
  18         using namespace boost::qvm;
  19         for( float r=0; r<6.28f; r+=0.5f )
  20             {
  21             test_qvm::quaternion<Q1> q1=rotz_quat(r);
  22             test_qvm::matrix<M1,3,3> m1=convert_to< test_qvm::matrix<M1,3,3> >(q1);
  23             test_qvm::rotation_z(m1.b,r);
  24             BOOST_QVM_TEST_CLOSE(m1.a,m1.b,0.000001f);
  25             test_qvm::quaternion<Q2> q2(42,1);
  26             set_rotz(q2,r);
  27             test_qvm::matrix<M1,3,3> m2=convert_to< test_qvm::matrix<M1,3,3> >(q2);
  28             test_qvm::rotation_z(m2.b,r);
  29             BOOST_QVM_TEST_CLOSE(m2.a,m2.b,0.000001f);
  30             test_qvm::quaternion<Q1> q3(42,1);
  31             test_qvm::quaternion<Q1> r1=q3*q1;
  32             rotate_z(q3,r);
  33             BOOST_QVM_TEST_EQ(q3.a,r1.a);
  34             }
  35         rotz_quat(0.0f)+rotz_quat(0.0f);
  36         -rotz_quat(0.0f);
  37         }
  38     }
  39
  40 int
  41 main()
  42     {
  43     test();
  44     return boost::report_errors();
  45     }