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16
CMakeLists.txt
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16
CMakeLists.txt
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@ -0,0 +1,16 @@
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cmake_minimum_required(VERSION 2.6)
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project(quaternion)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
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find_package(Boost COMPONENTS unit_test_framework system REQUIRED)
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include_directories (${Boost_INCLUDE_DIRS})
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add_executable(quaternion_example example.cpp Quaternion.h)
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add_executable(quaternion_test test.cpp Quaternion.h)
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target_link_libraries(quaternion_test ${Boost_LIBRARIES})
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add_test(NAME quaternion_test WORKING_DIRECTORY ${PROJECT_BINARY_DIR} COMMAND ${PROJECT_BINARY_DIR}/quaternion_test)
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enable_testing()
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384
Quaternion.h
Normal file
384
Quaternion.h
Normal file
@ -0,0 +1,384 @@
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/*
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* Copyright © 2019 Andrea Bontempi All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice, this
|
||||
* list of conditions and the following disclaimer.
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||||
*
|
||||
* - Redistributions in binary form must reproduce the above copyright notice, this
|
||||
* list of conditions and the following disclaimer in the documentation and/or
|
||||
* other materials provided with the distribution.
|
||||
*
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||||
* - Neither the name of Andrea Bontempi nor the names of its contributors may be used to
|
||||
* endorse or promote products derived from this software without specific prior
|
||||
* written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
|
||||
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
|
||||
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
||||
* ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef QUATER_H
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#define QUATER_H
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#include <cmath>
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#include <type_traits>
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#include <complex>
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template<typename T = double>
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class Quaternion {
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private:
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T n, ni, nj, nk;
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public:
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using value_type = T; ///< value_type trait for STL compatibility
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/**
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* Default constuctor
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*/
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Quaternion(const T& n = static_cast<T>(0), const T& ni = static_cast<T>(0), const T& nj = static_cast<T>(0), const T& nk = static_cast<T>(0))
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: n(n), ni(ni), nj(nj), nk(nk) {}
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/**
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* Specialized constructor for std::complex
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*/
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Quaternion(const std::complex<T>& complex_a, const std::complex<T>& complex_b = std::complex<T>(static_cast<T>(0), static_cast<T>(0)))
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: n(complex_a.real()), ni(complex_a.imag()), nj(complex_b.real()), nk(complex_b.imag()) {}
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/**
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* Copy constructor
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*/
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template<typename U>
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Quaternion(const Quaternion<U>& rhs)
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: n(rhs.a()), ni(rhs.b()), nj(rhs.c()), nk(rhs.d()) {}
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/**
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* Default copy assignment operator
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*/
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template<typename U>
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Quaternion<T>& operator=(const Quaternion<U>& rhs) {
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this->n = rhs.a();
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this->ni = rhs.b();
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this->nj = rhs.c();
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this->nk = rhs.d();
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}
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/**
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* Specialized copy assignment operator for std::complex
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*/
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template<typename U>
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Quaternion<T>& operator=(const std::complex<U> rhs) {
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this->n = rhs.real();
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this->ni = rhs.imag();
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this->nj = static_cast<T>(0);
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this->nk = static_cast<T>(0);
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}
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T a() const {
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return this->n;
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}
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T b() const {
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return this->ni;
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}
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T c() const {
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return this->nj;
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}
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T d() const {
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return this->nk;
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}
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std::complex<T> complex_a() const {
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return {this->n, this->ni};
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}
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std::complex<T> complex_b() const {
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return {this->nj, this->nk};
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}
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T real() const {
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return this->n;
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}
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Quaternion<T> unreal() const {
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return {static_cast<T>(0), this->ni, this->nj, this->nk};
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}
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};
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namespace std {
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/**
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* Norm of quaternion
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*/
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template<typename T>
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T norm(const Quaternion<T>& quat) {
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return (quat.a() * quat.a()) + (quat.b() * quat.b()) + (quat.c() * quat.c()) + (quat.d() * quat.d());
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}
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/**
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* Implementation of abs with float sqrt
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*/
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float abs(const Quaternion<float>& quat) {
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return std::sqrt(std::norm(quat));
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}
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/**
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* Implementation of abs with double sqrt
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*/
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double abs(const Quaternion<double>& quat) {
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return std::sqrt(std::norm(quat));
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}
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/**
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* Implementation of abs with long double sqrt
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*/
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long double abs(const Quaternion<long double>& quat) {
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return std::sqrt(std::norm(quat));
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}
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/**
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* The conjugate of quaternion
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*/
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template<typename T>
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Quaternion<T> conj(const Quaternion<T>& quat) {
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return {quat.a(), quat.b() * -1, quat.c() * -1, quat.d() * -1};
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}
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/**
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* Is not a number?
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*/
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template<typename T>
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bool isnan(Quaternion<T> quat) {
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return std::isnan(quat.a()) || std::isnan(quat.b()) || std::isnan(quat.c()) || std::isnan(quat.d());
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}
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/**
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* Is infinite?
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*/
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template<typename T>
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bool isinf(Quaternion<T> quat) {
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return std::isinf(quat.a()) || std::isinf(quat.b()) || std::isinf(quat.c()) || std::isinf(quat.d());
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}
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/**
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* Is finite?
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*/
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template<typename T>
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bool isfinite(Quaternion<T> quat) {
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return std::isfinite(quat.a()) && std::isfinite(quat.b()) && std::isfinite(quat.c()) && std::isfinite(quat.d());
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}
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}
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/**
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* Add operator between two quaternios.
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*/
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template<typename _tA, typename _tB>
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auto operator+(const Quaternion<_tA>& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype(lhs.a() + rhs.a())> {
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return {lhs.a() + rhs.a(), lhs.b() + rhs.b(), lhs.c() + rhs.c(), lhs.d() + rhs.d()};
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}
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/**
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* Add operator between quaternion and std::complex.
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*/
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template<typename _tA, typename _tB>
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auto operator+(const Quaternion<_tA>& lhs, const std::complex<_tB>& rhs) -> Quaternion<decltype(lhs.a() + rhs.real())> {
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return {lhs.a() + rhs.real(), lhs.b() + rhs.imag(), lhs.c(), lhs.d()};
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}
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/**
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* Add operator between std::complex and quaternion.
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*/
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template<typename _tA, typename _tB>
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auto operator+(const std::complex<_tB>& lhs, const Quaternion<_tA>& rhs) -> Quaternion<decltype(lhs.real() + rhs.a())> {
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return operator+(rhs, lhs);
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}
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/**
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* Add operator between quaternion and scalar.
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*/
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template<typename _tA, typename _tB>
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auto operator+(const Quaternion<_tA>& lhs, const _tB& rhs) -> Quaternion<decltype(lhs.a() + rhs)> {
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return {lhs.a() + rhs, lhs.b(), lhs.c(), lhs.d()};
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}
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/**
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* Add operator between scalar and quaternion.
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*/
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template<typename _tA, typename _tB>
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auto operator+(const _tA& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype(lhs + rhs.a())> {
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return operator+(rhs, lhs);
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}
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/**
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* Sub operator between two quaternions.
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*/
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template<typename _tA, typename _tB>
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auto operator-(const Quaternion<_tA>& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype(lhs.a() - rhs.a())> {
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return {lhs.a() - rhs.a(), lhs.b() - rhs.b(), lhs.c() - rhs.c(), lhs.d() - rhs.d()};
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}
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/**
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* Sub operator between quaternion and std:complex.
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*/
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template<typename _tA, typename _tB>
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auto operator-(const Quaternion<_tA>& lhs, const std::complex<_tB>& rhs) -> Quaternion<decltype(lhs.a() - rhs.real())> {
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return {lhs.a() - rhs.real(), lhs.b() - rhs.imag(), lhs.c(), lhs.d()};
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}
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/**
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* Sub operator between std:complex and quaternion.
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*/
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template<typename _tA, typename _tB>
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auto operator-(const std::complex<_tB>& lhs, const Quaternion<_tA>& rhs) -> Quaternion<decltype(lhs.real() - rhs.a())> {
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return {lhs.real() - rhs.a(), lhs.imag() - rhs.b(), -rhs.c(), -rhs.d()};
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}
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/**
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* Sub operator between quaternion and scalar.
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*/
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template<typename _tA, typename _tB>
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auto operator-(const Quaternion<_tA>& lhs, const _tB& rhs) -> Quaternion<decltype(lhs.a() - rhs)> {
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return {lhs.a() - rhs, lhs.b(), lhs.c(), lhs.d()};
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}
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/**
|
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* Sub operator between scalar and quaternion.
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*/
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template<typename _tA, typename _tB>
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auto operator-(const _tA& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype(lhs - rhs.a())> {
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return {lhs - rhs.a(), -rhs.b(), -rhs.c(), -rhs.d()};
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}
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/**
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* Mul operator between two quaternions.
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*/
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template<typename _tA, typename _tB>
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auto operator*(const Quaternion<_tA>& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype(lhs.a() * rhs.a())> {
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decltype(lhs.a() * rhs.a()) tn = (lhs.a() * rhs.a()) - (lhs.b() * rhs.b()) - (lhs.c() * rhs.c()) - (lhs.d() * rhs.d());
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decltype(lhs.a() * rhs.a()) tni = (lhs.a() * rhs.b()) + (lhs.b() * rhs.a()) + (lhs.c() * rhs.d()) - (lhs.d() * rhs.c());
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decltype(lhs.a() * rhs.a()) tnj = (lhs.a() * rhs.c()) + (lhs.c() * rhs.a()) + (lhs.d() * rhs.b()) - (lhs.b() * rhs.d());
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decltype(lhs.a() * rhs.a()) tnk = (lhs.a() * rhs.d()) + (lhs.d() * rhs.a()) + (lhs.b() * rhs.c()) - (lhs.c() * rhs.b());
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return {tn, tni, tnj, tnk};
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}
|
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|
||||
/**
|
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* Mul operator between quaternion and std:complex.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
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auto operator*(const Quaternion<_tA>& lhs, const std::complex<_tB>& rhs) -> Quaternion<decltype(lhs.a() * rhs.real())> {
|
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decltype(lhs.a() * rhs.real()) tn = (lhs.a() * rhs.real()) - (lhs.b() * rhs.imag());
|
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decltype(lhs.a() * rhs.real()) tni = (lhs.a() * rhs.imag()) + (lhs.b() * rhs.real());
|
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decltype(lhs.a() * rhs.real()) tnj = (lhs.c() * rhs.real()) + (lhs.d() * rhs.imag());
|
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decltype(lhs.a() * rhs.real()) tnk = (lhs.d() * rhs.real()) - (lhs.c() * rhs.imag());
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return {tn, tni, tnj, tnk};
|
||||
}
|
||||
|
||||
/**
|
||||
* Mul operator between std:complex and quaternion.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
auto operator*(const std::complex<_tB>& lhs, const Quaternion<_tA>& rhs) -> Quaternion<decltype(lhs.real() * rhs.a())> {
|
||||
decltype(lhs.real() * rhs.a()) tn = (lhs.real() * rhs.a()) - (lhs.imag() * rhs.b());
|
||||
decltype(lhs.real() * rhs.a()) tni = (lhs.real() * rhs.b()) + (lhs.imag() * rhs.a());
|
||||
decltype(lhs.real() * rhs.a()) tnj = (lhs.real() * rhs.c()) - (lhs.imag() * rhs.d());
|
||||
decltype(lhs.real() * rhs.a()) tnk = (lhs.real() * rhs.d()) + (lhs.imag() * rhs.c());
|
||||
return {tn, tni, tnj, tnk};
|
||||
}
|
||||
|
||||
/**
|
||||
* Mul operator between quaternion and scalar.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
auto operator*(const Quaternion<_tA>& lhs, const _tB& rhs) -> Quaternion<decltype(lhs.a() * rhs)> {
|
||||
return {lhs.a() * rhs, lhs.b() * rhs, lhs.c() * rhs, lhs.d() * rhs};
|
||||
}
|
||||
|
||||
/**
|
||||
* Mul operator between scalar and quaternion.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
auto operator*(const _tA& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype(lhs * rhs.a())> {
|
||||
return operator*(rhs, lhs);
|
||||
}
|
||||
|
||||
/**
|
||||
* Div operator between two quaternions.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
auto operator/(const Quaternion<_tA>& lhs, const Quaternion<_tB>& rhs) -> Quaternion<decltype((lhs.a() * rhs.a()) / rhs.a())> {
|
||||
decltype(lhs.a() * rhs.a()) tn = (lhs.a() * rhs.a()) + (lhs.b() * rhs.b()) + (lhs.c() * rhs.c()) + (lhs.d() * rhs.d());
|
||||
decltype(lhs.a() * rhs.a()) tni = - (lhs.a() * rhs.b()) + (lhs.b() * rhs.a()) - (lhs.c() * rhs.d()) + (lhs.d() * rhs.c());
|
||||
decltype(lhs.a() * rhs.a()) tnj = - (lhs.a() * rhs.c()) + (lhs.c() * rhs.a()) - (lhs.d() * rhs.b()) + (lhs.b() * rhs.d());
|
||||
decltype(lhs.a() * rhs.a()) tnk = - (lhs.a() * rhs.d()) + (lhs.d() * rhs.a()) - (lhs.b() * rhs.c()) + (lhs.c() * rhs.b());
|
||||
decltype(rhs.a()) norm = std::norm(rhs);
|
||||
return {tn / norm, tni / norm, tnj / norm, tnk / norm};
|
||||
}
|
||||
|
||||
/**
|
||||
* Div operator between quaternion and scalar.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
auto operator/(const Quaternion<_tA>& lhs, const _tB& rhs) -> Quaternion<decltype(lhs.a() / rhs)> {
|
||||
return {lhs.a() / rhs, lhs.b() / rhs, lhs.c() / rhs, lhs.d() / rhs};
|
||||
}
|
||||
|
||||
/**
|
||||
* Div operator between scalar and quaternion.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
auto operator/(const _tB& lhs, const Quaternion<_tA>& rhs) -> Quaternion<decltype((rhs.a() * lhs) / rhs.a())> {
|
||||
decltype(rhs.a()) norm = std::norm(rhs);
|
||||
return {(rhs.a() * lhs) / norm, -(rhs.b() * lhs) / norm, -(rhs.c() * lhs) / norm, -(rhs.d() * lhs) / norm};
|
||||
}
|
||||
|
||||
/**
|
||||
* Trivial comparison operator between quaternions.
|
||||
*/
|
||||
template<typename _tA, typename _tB>
|
||||
bool operator==(const _tA& lhs, const _tB& rhs) {
|
||||
return lhs.a() == rhs.a() && lhs.b() == rhs.b() && lhs.c() == rhs.c() && lhs.d() == rhs.d();
|
||||
}
|
||||
|
||||
/**
|
||||
* Stream operator for quaternion.
|
||||
*/
|
||||
template<typename T>
|
||||
std::ostream& operator<< (std::ostream& os, const Quaternion<T>& obj) {
|
||||
os << "(" << obj.a() << "," << obj.b() << "," << obj.c() << "," << obj.d() << ")";
|
||||
return os;
|
||||
}
|
||||
|
||||
/**
|
||||
* Normalization function
|
||||
*/
|
||||
template<typename T>
|
||||
auto normalized(const Quaternion<T>& quat) -> Quaternion<decltype(quat.a() / std::abs(quat))> {
|
||||
return quat / std::abs(quat);
|
||||
}
|
||||
|
||||
/**
|
||||
* Inverse function
|
||||
*/
|
||||
template<typename T>
|
||||
auto inverse(const Quaternion<T>& quat) {
|
||||
return std::conj(quat) / std::norm(quat);
|
||||
}
|
||||
|
||||
#endif // QUATER_H
|
||||
18
README.md
Normal file
18
README.md
Normal file
@ -0,0 +1,18 @@
|
||||
A simple header-only generic C++ quaternion class.
|
||||
==========================================
|
||||
|
||||
* Header-only.
|
||||
* No dynamic memory allocation.
|
||||
* Supports operations on mixed types.
|
||||
* Modern C++.
|
||||
* Compatible with Standard Template Library.
|
||||
|
||||
### Run test suite
|
||||
```
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make
|
||||
make test
|
||||
|
||||
```
|
||||
91
example.cpp
Normal file
91
example.cpp
Normal file
@ -0,0 +1,91 @@
|
||||
/*
|
||||
* Copyright © 2019 Andrea Bontempi All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice, this
|
||||
* list of conditions and the following disclaimer.
|
||||
*
|
||||
* - Redistributions in binary form must reproduce the above copyright notice, this
|
||||
* list of conditions and the following disclaimer in the documentation and/or
|
||||
* other materials provided with the distribution.
|
||||
*
|
||||
* - Neither the name of Andrea Bontempi nor the names of its contributors may be used to
|
||||
* endorse or promote products derived from this software without specific prior
|
||||
* written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
|
||||
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
|
||||
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
||||
* ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
#include "Quaternion.h"
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
|
||||
Quaternion<int> a(1,0,1,0);
|
||||
Quaternion<double> b(1,0.5,0.5,0.75);
|
||||
Quaternion<float> c(3,0.5,1.5,0.75);
|
||||
|
||||
std::complex<double> ca(1,2);
|
||||
std::complex<double> cb(3,4);
|
||||
|
||||
std::cout << "Real part of " << a << " is " << a.real() << std::endl;
|
||||
|
||||
std::cout << "Unreal part of " << b << " is " << b.unreal() << std::endl;
|
||||
|
||||
std::cout << "Component of " << a << " is " << a.a() << ", " << a.b() << ", " << a.c() << ", " << a.d() << std::endl;
|
||||
|
||||
std::cout << "Norm of " << a << " is " << std::norm(a) << std::endl;
|
||||
|
||||
std::cout << "Modulus of " << c << " is " << std::abs(c) << std::endl;
|
||||
|
||||
std::cout << "Conjugate of " << b << " is " << std::conj(b) << std::endl;
|
||||
|
||||
std::cout << "Normalization of " << b << " is " << normalized(b) << std::endl;
|
||||
|
||||
std::cout << "Inverse of " << b << " is " << inverse(b) << std::endl;
|
||||
|
||||
std::cout << a << " + " << b << " = " << a + b << std::endl;
|
||||
|
||||
std::cout << a << " + " << 3 << " = " << a + 3 << std::endl;
|
||||
|
||||
std::cout << b << " + complex " << ca << " = " << b + ca << std::endl;
|
||||
|
||||
std::cout << a << " - " << b << " = " << a - b << std::endl;
|
||||
|
||||
std::cout << a << " * " << b << " = " << a * b << std::endl;
|
||||
|
||||
std::cout << a << " * " << 2.2 << " = " << a * 2.2 << std::endl;
|
||||
|
||||
std::cout << a << " / " << b << " = " << a / b << std::endl;
|
||||
|
||||
std::cout << a << " / " << 2.2 << " = " << a / 2.2 << std::endl;
|
||||
|
||||
std::cout << 2.2 << " / " << b << " = " << 2.2 / b << std::endl;
|
||||
|
||||
Quaternion<double> component (ca,cb);
|
||||
|
||||
std::cout << "Construct quaternion from complex " << ca << " and " << cb << " = " << component << std::endl;
|
||||
|
||||
std::cout << "Quaternion " << component << " has complex component " << component.complex_a() << " and " << component.complex_b() << std::endl;
|
||||
|
||||
std::cout << a << " is NaN? " << std::boolalpha << std::isnan(a) << std::endl;
|
||||
|
||||
std::cout << a << " is infinite? " << std::boolalpha << std::isinf(a) << std::endl;
|
||||
|
||||
std::cout << a << " is finite? " << std::boolalpha << std::isfinite(a) << std::endl;
|
||||
|
||||
return 0;
|
||||
|
||||
}
|
||||
246
test.cpp
Normal file
246
test.cpp
Normal file
@ -0,0 +1,246 @@
|
||||
/*
|
||||
* Copyright © 2019 Andrea Bontempi All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
*
|
||||
* - Redistributions of source code must retain the above copyright notice, this
|
||||
* list of conditions and the following disclaimer.
|
||||
*
|
||||
* - Redistributions in binary form must reproduce the above copyright notice, this
|
||||
* list of conditions and the following disclaimer in the documentation and/or
|
||||
* other materials provided with the distribution.
|
||||
*
|
||||
* - Neither the name of Andrea Bontempi nor the names of its contributors may be used to
|
||||
* endorse or promote products derived from this software without specific prior
|
||||
* written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND
|
||||
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
|
||||
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
||||
* ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
*/
|
||||
|
||||
#define BOOST_TEST_DYN_LINK
|
||||
#define BOOST_TEST_MODULE "Quaternion tests"
|
||||
|
||||
#include <complex>
|
||||
#include "Quaternion.h"
|
||||
#include <boost/test/unit_test.hpp> //VERY IMPORTANT - include this last
|
||||
|
||||
|
||||
/**
|
||||
* Comparison operator for test
|
||||
*/
|
||||
|
||||
const double epsilon = 1e-05;
|
||||
|
||||
bool operator==(const Quaternion<double>& lhs, const Quaternion<double>& rhs) {
|
||||
bool check_a = std::abs(lhs.a() - rhs.a()) <= ((std::abs(lhs.a()) < std::abs(rhs.a()) ? std::abs(rhs.a()) : std::abs(lhs.a())) * epsilon);
|
||||
bool check_b = std::abs(lhs.b() - rhs.b()) <= ((std::abs(lhs.b()) < std::abs(rhs.b()) ? std::abs(rhs.b()) : std::abs(lhs.b())) * epsilon);
|
||||
bool check_c = std::abs(lhs.c() - rhs.c()) <= ((std::abs(lhs.c()) < std::abs(rhs.c()) ? std::abs(rhs.c()) : std::abs(lhs.c())) * epsilon);
|
||||
bool check_d = std::abs(lhs.d() - rhs.d()) <= ((std::abs(lhs.d()) < std::abs(rhs.d()) ? std::abs(rhs.d()) : std::abs(lhs.d())) * epsilon);
|
||||
return check_a && check_b && check_c && check_d;
|
||||
}
|
||||
|
||||
bool compare_double(const double& a, const double& b) {
|
||||
return std::abs(a - b) <= ((std::abs(a) < std::abs(b) ? std::abs(b) : std::abs(a)) * epsilon);
|
||||
|
||||
}
|
||||
|
||||
/** CONSTRUCTION OF A QUATERNION **/
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_costruction_from_components) {
|
||||
Quaternion<double> test(0.1,0.5,0.9,1);
|
||||
BOOST_CHECK_EQUAL(test.a(), 0.1);
|
||||
BOOST_CHECK_EQUAL(test.b(), 0.5);
|
||||
BOOST_CHECK_EQUAL(test.c(), 0.9);
|
||||
BOOST_CHECK_EQUAL(test.d(), 1);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_costruction_from_complex) {
|
||||
std::complex<double> a(0.1,0.5);
|
||||
std::complex<double> b(0.9,1);
|
||||
Quaternion<double> test(a,b);
|
||||
BOOST_CHECK_EQUAL(test.complex_a(), a);
|
||||
BOOST_CHECK_EQUAL(test.complex_b(), b);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_costruction_from_copy) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
Quaternion<double> b(a);
|
||||
BOOST_CHECK_EQUAL(a, b);
|
||||
}
|
||||
|
||||
/** UNARY OPERATORS **/
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_conjugation) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
Quaternion<double> b(0.1,-0.5,-0.9,-1);
|
||||
BOOST_CHECK_EQUAL(std::conj(a), b);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_norm) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
double b = 2.07000;
|
||||
BOOST_CHECK_EQUAL(compare_double(std::norm(a), b), true);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_abs) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
double b = 1.43875;
|
||||
BOOST_CHECK_EQUAL(compare_double(std::abs(a), b), true);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_normalization) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
Quaternion<double> b(0.0695048,0.347524,0.625543,0.695048);
|
||||
BOOST_CHECK_EQUAL(normalized(a), b);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(quaternion_inversion) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
Quaternion<double> b(0.0483092,-0.241546,-0.434783,-0.483092);
|
||||
BOOST_CHECK_EQUAL(inverse(a), b);
|
||||
}
|
||||
|
||||
/** BINARY OPERATOR: SUM **/
|
||||
|
||||
BOOST_AUTO_TEST_CASE(sum_between_quaternions) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
Quaternion<double> b(0.9,0.5,0.1,0);
|
||||
Quaternion<double> c(1,1,1,1);
|
||||
BOOST_CHECK_EQUAL(a + b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(sum_between_scalar_and_quaternion) {
|
||||
double a = 1;
|
||||
Quaternion<double> b(0.9,0.5,0.1,0);
|
||||
Quaternion<double> c(1.9,0.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a + b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(sum_between_quaternion_and_scalar) {
|
||||
Quaternion<double> a(0.9,0.5,0.1,0);
|
||||
double b = 1;
|
||||
Quaternion<double> c(1.9,0.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a + b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(sum_between_complex_and_quaternion) {
|
||||
std::complex<double> a (1,1);
|
||||
Quaternion<double> b(0.9,0.5,0.1,0);
|
||||
Quaternion<double> c(1.9,1.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a + b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(sum_between_quaternion_and_complex) {
|
||||
Quaternion<double> a(0.9,0.5,0.1,0);
|
||||
std::complex<double> b (1,1);
|
||||
Quaternion<double> c(1.9,1.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a + b, c);
|
||||
}
|
||||
|
||||
/** BINARY OPERATOR: DIFFERENCE **/
|
||||
|
||||
BOOST_AUTO_TEST_CASE(difference_between_quaternions) {
|
||||
Quaternion<double> a(1,1,1,1);
|
||||
Quaternion<double> b(0.1,0.5,0.9,1);
|
||||
Quaternion<double> c(0.9,0.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a - b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(difference_between_scalar_and_quaternion) {
|
||||
double a = 1;
|
||||
Quaternion<double> b(0.9,0.5,0.1,0);
|
||||
Quaternion<double> c(0.1,-0.5,-0.1,0);
|
||||
BOOST_CHECK_EQUAL(a - b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(difference_between_quaternion_and_scalar) {
|
||||
Quaternion<double> a(0.9,0.5,0.1,0);
|
||||
double b = 1;
|
||||
Quaternion<double> c(-0.1,0.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a - b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(difference_between_complex_and_quaternion) {
|
||||
std::complex<double> a (1,1);
|
||||
Quaternion<double> b(0.9,0.5,0.1,0);
|
||||
Quaternion<double> c(0.1,0.5,-0.1,0);
|
||||
BOOST_CHECK_EQUAL(a - b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(difference_between_quaternion_and_complex) {
|
||||
Quaternion<double> a(0.9,0.5,0.1,0);
|
||||
std::complex<double> b (1,1);
|
||||
Quaternion<double> c(-0.1,-0.5,0.1,0);
|
||||
BOOST_CHECK_EQUAL(a - b, c);
|
||||
}
|
||||
|
||||
/** BINARY OPERATOR: MULTIPLICATION **/
|
||||
|
||||
BOOST_AUTO_TEST_CASE(multiplication_between_quaternions) {
|
||||
Quaternion<double> a(-1,1,-1,1);
|
||||
Quaternion<double> b(0.1,0.5,0.9,1);
|
||||
Quaternion<double> c(-0.7,-2.3,-1.5,0.5);
|
||||
BOOST_CHECK_EQUAL(a * b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(multiplication_between_scalar_and_quaternion) {
|
||||
double a = 2;
|
||||
Quaternion<double> b(0.1,0.5,0.9,1);
|
||||
Quaternion<double> c(0.2,1,1.8,2);
|
||||
BOOST_CHECK_EQUAL(a * b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(multiplication_between_quaternion_and_scalar) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
double b = 2;
|
||||
Quaternion<double> c(0.2,1,1.8,2);
|
||||
BOOST_CHECK_EQUAL(a * b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(multiplication_between_complex_and_quaternion) {
|
||||
std::complex<double> a (1,1);
|
||||
Quaternion<double> b(0.1,0.5,0.9,1);
|
||||
Quaternion<double> c(-0.4,0.6,-0.1,1.9);
|
||||
BOOST_CHECK_EQUAL(a * b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(multiplication_between_quaternion_and_complex) {
|
||||
Quaternion<double> a(0.1,0.5,0.9,1);
|
||||
std::complex<double> b (1,1);
|
||||
Quaternion<double> c(-0.4,0.6,1.9,0.1);
|
||||
BOOST_CHECK_EQUAL(a * b, c);
|
||||
}
|
||||
|
||||
/** BINARY OPERATOR: DIVISION **/
|
||||
|
||||
BOOST_AUTO_TEST_CASE(division_between_quaternions) {
|
||||
Quaternion<double> a(-1,1,-1,1);
|
||||
Quaternion<double> b(0.1,0.5,0.9,1);
|
||||
Quaternion<double> c(0.241546,1.207729,0.628019,-0.144928);
|
||||
BOOST_CHECK_EQUAL(a / b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(division_between_scalar_and_quaternion) {
|
||||
double a = 2;
|
||||
Quaternion<double> b(0.1,0.5,0.9,1);
|
||||
Quaternion<double> c(0.0966184,-0.483092,-0.869565,-0.966184);
|
||||
BOOST_CHECK_EQUAL(a / b, c);
|
||||
}
|
||||
|
||||
BOOST_AUTO_TEST_CASE(division_between_quaternion_and_scalar) {
|
||||
Quaternion<double> a(-1,1,-1,1);
|
||||
double b = 2;
|
||||
Quaternion<double> c(-0.5,0.5,-0.5,0.5);
|
||||
BOOST_CHECK_EQUAL(a / b, c);
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user