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Guilhem Saurel
ndcurves
Commits
e7ac44d2
Commit
e7ac44d2
authored
Dec 04, 2019
by
Pierre Fernbach
Browse files
[Tests] add print to check which method is called for operator()
parent
90a2453b
Changes
1
Hide whitespace changes
Inline
Side-by-side
tests/Main.cpp
View file @
e7ac44d2
...
...
@@ -2332,7 +2332,7 @@ void testOperatorEqual(bool& error){
polynomial_t
polC2_1
=
polynomial_t
(
p0
,
dp0
,
ddp0
,
p1
,
dp1
,
ddp1
,
min
,
max
);
polynomial_t
polC2_2
=
polynomial_t
(
p0
,
dp0
,
ddp0
,
p1
,
dp1
,
ddp1
,
min
,
max
);
polynomial_t
polC2_3
(
polC2_1
);
//std::cout<<"Should call polynomial method : "<<std::endl;
if
(
polC2_1
!=
polC2_2
){
std
::
cout
<<
"polC2_1 and polC2_2 should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2372,6 +2372,7 @@ void testOperatorEqual(bool& error){
bezier_t
::
num_t
T_max
=
3.0
;
bezier_t
bc_0
(
control_points
.
begin
(),
control_points
.
end
(),
T_min
,
T_max
);
bezier_t
bc_1
(
bc_0
);
//std::cout<<"Should call Bezier method : "<<std::endl;
if
(
bc_1
!=
bc_0
){
std
::
cout
<<
"bc_0 and bc_1 should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2396,6 +2397,7 @@ void testOperatorEqual(bool& error){
// test bezier / polynomial
polynomial_t
pol_0
=
polynomial_from_curve
<
polynomial_t
>
(
bc_0
);
CompareCurves
<
polynomial_t
,
bezier_t
>
(
pol_0
,
bc_0
,
"compare pol_0 and bc_0"
,
error
);
//std::cout<<"Should call curve_abc method : "<<std::endl;
if
(
bc_0
!=
pol_0
){
std
::
cout
<<
"bc_0 and pol_0 should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2424,6 +2426,7 @@ void testOperatorEqual(bool& error){
ch_control_points2
.
push_back
(
pair0
);
ch_control_points2
.
push_back
(
pair2
);
cubic_hermite_spline_t
chs3
(
ch_control_points2
.
begin
(),
ch_control_points2
.
end
(),
time_control_points
);
//std::cout<<"Should call hermite method : "<<std::endl;
if
(
chs0
!=
chs1
){
std
::
cout
<<
"chs0 and chs1 should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2439,6 +2442,7 @@ void testOperatorEqual(bool& error){
// // test bezier / hermite
bezier_t
bc_ch
=
bezier_from_curve
<
bezier_t
>
(
chs0
);
//std::cout<<"Should call curve_abc method : "<<std::endl;
if
(
chs0
!=
bc_ch
){
std
::
cout
<<
"chs0 and bc_ch should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2464,6 +2468,7 @@ void testOperatorEqual(bool& error){
quaternion_t
q2
(
0.7071
,
0.
,
0.7071
,
0
);
q2
.
normalize
();
SO3Linear_t
so3Traj3
(
q0
,
q2
,
tMin
,
tMax
);
//std::cout<<"Should call SO3 method : "<<std::endl;
if
(
so3Traj1
!=
so3Traj2
){
std
::
cout
<<
"so3Traj1 and so3Traj2 should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2490,18 +2495,22 @@ void testOperatorEqual(bool& error){
SE3Curve_t
se3_bezier3
=
SE3Curve_t
(
translation_bezier
,
q0
.
toRotationMatrix
(),
q2
.
toRotationMatrix
());
boost
::
shared_ptr
<
polynomial_t
>
translation_polynomial2
(
new
polynomial_t
(
pol_2
));
SE3Curve_t
se3_pol2
=
SE3Curve_t
(
translation_polynomial2
,
q0
.
toRotationMatrix
(),
q1
.
toRotationMatrix
());
//std::cout<<"Should call se3 -> curve_abc / so3 method : "<<std::endl;
if
(
se3_bezier1
!=
se3_pol1
){
std
::
cout
<<
"se3_bezier1 and se3_pol1 should be equals"
<<
std
::
endl
;
error
=
true
;
}
//std::cout<<"Should call se3 -> bezier / so3 method : "<<std::endl;
if
(
se3_bezier1
!=
se3_bezier2
){
std
::
cout
<<
"se3_bezier1 and se3_bezier2 should be equals"
<<
std
::
endl
;
error
=
true
;
}
//std::cout<<"Should call se3 -> curve_abc / so3 method : "<<std::endl;
if
(
se3_bezier1
==
se3_pol2
){
std
::
cout
<<
"se3_bezier1 and se3_pol2 should not be equals"
<<
std
::
endl
;
error
=
true
;
}
//std::cout<<"Should call se3 -> bezier / so3 method : "<<std::endl;
if
(
se3_bezier1
==
se3_bezier3
){
std
::
cout
<<
"se3_bezier1 and se3_bezier3 should not be equals"
<<
std
::
endl
;
error
=
true
;
...
...
@@ -2533,7 +2542,7 @@ void testOperatorEqual(bool& error){
piecewise_t
pc_C4
(
bc0_ptr
);
boost
::
shared_ptr
<
bezier_t
>
bc2_ptr
(
new
bezier_t
(
params0
.
begin
(),
params0
.
end
(),
1.
,
2.
));
pc_C4
.
add_curve_ptr
(
bc2_ptr
);
//std::cout<<"Should call curve_abc method : "<<std::endl;
if
(
pc_C0
!=
pc_C1
){
std
::
cout
<<
"pc_C0 and pc_C1 should be equals"
<<
std
::
endl
;
error
=
true
;
...
...
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