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Commit99bb3e2

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QuatExpMap test: Move the test data into the functions.
Try to fix GCC 4.8 on Travis.
1 parent9ae07b6 commit99bb3e2

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1 file changed

+65
-83
lines changed

1 file changed

+65
-83
lines changed

‎tests/cplusplus/Util/QuatExpMap.cpp‎

Lines changed: 65 additions & 83 deletions
Original file line numberDiff line numberDiff line change
@@ -155,39 +155,6 @@ static inline ::std::ostream &operator<<(::std::ostream &os,
155155
staticconst Vector3d Vec3dZero = Vector3d::Zero();
156156

157157
/* Tests that take a unit quat as input*/
158-
staticconstauto BasicQuats = {
159-
QuatCreator::Identity(),
160-
QuatCreator::AngleAxis(EIGEN_PI /2,Vector3d::UnitX()),
161-
QuatCreator::AngleAxis(EIGEN_PI /2,Vector3d::UnitY()),
162-
QuatCreator::AngleAxis(EIGEN_PI /2,Vector3d::UnitZ()),
163-
QuatCreator::AngleAxis(-EIGEN_PI /2,Vector3d::UnitX()),
164-
QuatCreator::AngleAxis(-EIGEN_PI /2,Vector3d::UnitY()),
165-
QuatCreator::AngleAxis(-EIGEN_PI /2,Vector3d::UnitZ())};
166-
167-
staticconstauto SmallQuats = {
168-
QuatCreator::AngleAxis(SMALL,Vector3d::UnitX()),
169-
QuatCreator::AngleAxis(SMALL,Vector3d::UnitY()),
170-
QuatCreator::AngleAxis(SMALL,Vector3d::UnitZ()),
171-
QuatCreator::AngleAxis(SMALLER,Vector3d::UnitX()),
172-
QuatCreator::AngleAxis(SMALLER,Vector3d::UnitY()),
173-
QuatCreator::AngleAxis(SMALLER,Vector3d::UnitZ())};
174-
staticconstauto SmallNegativeQuats = {
175-
QuatCreator::AngleAxis(-SMALL,Vector3d::UnitX()),
176-
QuatCreator::AngleAxis(-SMALL,Vector3d::UnitY()),
177-
QuatCreator::AngleAxis(-SMALL,Vector3d::UnitZ()),
178-
QuatCreator::AngleAxis(-SMALLER,Vector3d::UnitX()),
179-
QuatCreator::AngleAxis(-SMALLER,Vector3d::UnitY()),
180-
QuatCreator::AngleAxis(-SMALLER,Vector3d::UnitZ())};
181-
182-
#if0
183-
QuatCreator::AngleAxis(EIGEN_PI, Vector3d::UnitX()),
184-
QuatCreator::AngleAxis(EIGEN_PI, Vector3d::UnitY()),
185-
QuatCreator::AngleAxis(EIGEN_PI, Vector3d::UnitZ()),
186-
QuatCreator::AngleAxis(3 * EIGEN_PI / 2, Vector3d::UnitX()),
187-
QuatCreator::AngleAxis(3 * EIGEN_PI / 2, Vector3d::UnitY()),
188-
QuatCreator::AngleAxis(3 * EIGEN_PI / 2, Vector3d::UnitZ()),
189-
#endif
190-
191158
TEST_CASE("UnitQuatInput") {
192159
constauto doTests = [](QuatCreatorconst &qCreator) {
193160
CAPTURE(qCreator);
@@ -221,37 +188,48 @@ TEST_CASE("UnitQuatInput") {
221188
#endif// HAVE_QUATLIB
222189
};
223190
SECTION("Basic quats") {
224-
auto quatCreator =GENERATE(values(BasicQuats));
191+
auto quatCreator =GENERATE(
192+
values({QuatCreator::Identity(),
193+
QuatCreator::AngleAxis(EIGEN_PI /2,Vector3d::UnitX()),
194+
QuatCreator::AngleAxis(EIGEN_PI /2,Vector3d::UnitY()),
195+
QuatCreator::AngleAxis(EIGEN_PI /2,Vector3d::UnitZ()),
196+
QuatCreator::AngleAxis(-EIGEN_PI /2,Vector3d::UnitX()),
197+
QuatCreator::AngleAxis(-EIGEN_PI /2,Vector3d::UnitY()),
198+
QuatCreator::AngleAxis(-EIGEN_PI /2,Vector3d::UnitZ())}));
225199
doTests(quatCreator);
226200
}
227201
SECTION("Small quats") {
228-
auto quatCreator =GENERATE(values(SmallQuats));
202+
auto quatCreator =GENERATE(
203+
values({QuatCreator::AngleAxis(SMALL,Vector3d::UnitX()),
204+
QuatCreator::AngleAxis(SMALL,Vector3d::UnitY()),
205+
QuatCreator::AngleAxis(SMALL,Vector3d::UnitZ()),
206+
QuatCreator::AngleAxis(SMALLER,Vector3d::UnitX()),
207+
QuatCreator::AngleAxis(SMALLER,Vector3d::UnitY()),
208+
QuatCreator::AngleAxis(SMALLER,Vector3d::UnitZ())}));
229209
doTests(quatCreator);
230210
}
231211
SECTION("Small negative quats") {
232-
auto quatCreator =GENERATE(values(SmallNegativeQuats));
212+
auto quatCreator =GENERATE(
213+
values({QuatCreator::AngleAxis(-SMALL,Vector3d::UnitX()),
214+
QuatCreator::AngleAxis(-SMALL,Vector3d::UnitY()),
215+
QuatCreator::AngleAxis(-SMALL,Vector3d::UnitZ()),
216+
QuatCreator::AngleAxis(-SMALLER,Vector3d::UnitX()),
217+
QuatCreator::AngleAxis(-SMALLER,Vector3d::UnitY()),
218+
QuatCreator::AngleAxis(-SMALLER,Vector3d::UnitZ())}));
233219
doTests(quatCreator);
234220
}
221+
222+
#if0
223+
QuatCreator::AngleAxis(EIGEN_PI, Vector3d::UnitX()),
224+
QuatCreator::AngleAxis(EIGEN_PI, Vector3d::UnitY()),
225+
QuatCreator::AngleAxis(EIGEN_PI, Vector3d::UnitZ()),
226+
QuatCreator::AngleAxis(3 * EIGEN_PI / 2, Vector3d::UnitX()),
227+
QuatCreator::AngleAxis(3 * EIGEN_PI / 2, Vector3d::UnitY()),
228+
QuatCreator::AngleAxis(3 * EIGEN_PI / 2, Vector3d::UnitZ()),
229+
#endif
235230
}
236231

237232
/* Tests that take a rotation vector as input*/
238-
staticconst std::initializer_list<Vector3d> BasicVecs = {
239-
Vector3d::Zero(),
240-
Vector3d(EIGEN_PI /2,0,0),
241-
Vector3d(0, EIGEN_PI /2,0),
242-
Vector3d(0,0, EIGEN_PI /2),
243-
Vector3d(-EIGEN_PI /2,0,0),
244-
Vector3d(0, -EIGEN_PI /2,0),
245-
Vector3d(0,0, -EIGEN_PI /2)};
246-
staticconst std::initializer_list<Vector3d> SmallVecs = {
247-
Vector3d(SMALL,0,0),Vector3d(0, SMALL,0),Vector3d(0,0, SMALL),
248-
Vector3d(SMALLER,0,0),Vector3d(0, SMALLER,0),Vector3d(0,0, SMALLER)};
249-
250-
staticconst std::initializer_list<Vector3d> SmallNegativeVecs = {
251-
Vector3d(-SMALL,0,0),Vector3d(0, -SMALL,0),
252-
Vector3d(0,0, -SMALL),Vector3d(-SMALLER,0,0),
253-
Vector3d(0, -SMALLER,0),Vector3d(0,0, -SMALLER)};
254-
255233
TEST_CASE("ExpMapVecInput") {
256234
constauto doTests = [](Vector3dconst &v) {
257235
CAPTURE(v);
@@ -284,15 +262,25 @@ TEST_CASE("ExpMapVecInput") {
284262
#endif// HAVE_QUATLIB
285263
};
286264
SECTION("BasicVecs") {
287-
Vector3d v =GENERATE(values(BasicVecs));
265+
Vector3d v =GENERATE(values(
266+
{Vector3d(Vector3d::Zero()),Vector3d(EIGEN_PI /2,0,0),
267+
Vector3d(0, EIGEN_PI /2,0),Vector3d(0,0, EIGEN_PI /2),
268+
Vector3d(-EIGEN_PI /2,0,0),Vector3d(0, -EIGEN_PI /2,0),
269+
Vector3d(0,0, -EIGEN_PI /2)}));
288270
doTests(v);
289271
}
290272
SECTION("SmallVecs") {
291-
Vector3d v =GENERATE(values(SmallVecs));
273+
Vector3d v =GENERATE(
274+
values({Vector3d(SMALL,0,0),Vector3d(0, SMALL,0),
275+
Vector3d(0,0, SMALL),Vector3d(SMALLER,0,0),
276+
Vector3d(0, SMALLER,0),Vector3d(0,0, SMALLER)}));
292277
doTests(v);
293278
}
294279
SECTION("SmallNegativeVecs") {
295-
Vector3d v =GENERATE(values(SmallNegativeVecs));
280+
Vector3d v =GENERATE(
281+
values({Vector3d(-SMALL,0,0),Vector3d(0, -SMALL,0),
282+
Vector3d(0,0, -SMALL),Vector3d(-SMALLER,0,0),
283+
Vector3d(0, -SMALLER,0),Vector3d(0,0, -SMALLER)}));
296284
doTests(v);
297285
}
298286
}
@@ -307,30 +295,6 @@ TEST_CASE("SimpleEquivalencies-Exp") {
307295
}
308296

309297
/* Tests that take a pair of equivalent quaternion and vector as input*/
310-
staticconstauto HalfPiMultiples = {
311-
makePairFromAngleAxis(EIGEN_PI /2,Vector3d::UnitX()),
312-
makePairFromAngleAxis(EIGEN_PI /2,Vector3d::UnitY()),
313-
makePairFromAngleAxis(EIGEN_PI /2,Vector3d::UnitZ()),
314-
makePairFromAngleAxis(-EIGEN_PI /2,Vector3d::UnitX()),
315-
makePairFromAngleAxis(-EIGEN_PI /2,Vector3d::UnitY()),
316-
makePairFromAngleAxis(-EIGEN_PI /2,Vector3d::UnitZ())};
317-
318-
staticconstauto SmallEquivalentValues = {
319-
makePairFromAngleAxis(SMALL,Vector3d::UnitX()),
320-
makePairFromAngleAxis(SMALL,Vector3d::UnitY()),
321-
makePairFromAngleAxis(SMALL,Vector3d::UnitZ()),
322-
makePairFromAngleAxis(SMALLER,Vector3d::UnitX()),
323-
makePairFromAngleAxis(SMALLER,Vector3d::UnitY()),
324-
makePairFromAngleAxis(SMALLER,Vector3d::UnitZ())};
325-
326-
staticconstauto SmallNegativeEquivalentValues = {
327-
makePairFromAngleAxis(-SMALL,Vector3d::UnitX()),
328-
makePairFromAngleAxis(-SMALL,Vector3d::UnitY()),
329-
makePairFromAngleAxis(-SMALL,Vector3d::UnitZ()),
330-
makePairFromAngleAxis(-SMALLER,Vector3d::UnitX()),
331-
makePairFromAngleAxis(-SMALLER,Vector3d::UnitY()),
332-
makePairFromAngleAxis(-SMALLER,Vector3d::UnitZ())};
333-
334298
TEST_CASE("EquivalentInput") {
335299
constauto doTests = [](QuatCreatorconst &qCreator, Vector3dconst &v) {
336300
CAPTURE(v);
@@ -360,15 +324,33 @@ TEST_CASE("EquivalentInput") {
360324
#endif// HAVE_QUATLIB
361325
};
362326
SECTION("HalfPiMultiples") {
363-
QuatVecPair qvp =GENERATE(values(HalfPiMultiples));
327+
QuatVecPair qvp =GENERATE(
328+
values({makePairFromAngleAxis(EIGEN_PI /2,Vector3d::UnitX()),
329+
makePairFromAngleAxis(EIGEN_PI /2,Vector3d::UnitY()),
330+
makePairFromAngleAxis(EIGEN_PI /2,Vector3d::UnitZ()),
331+
makePairFromAngleAxis(-EIGEN_PI /2,Vector3d::UnitX()),
332+
makePairFromAngleAxis(-EIGEN_PI /2,Vector3d::UnitY()),
333+
makePairFromAngleAxis(-EIGEN_PI /2,Vector3d::UnitZ())}));
364334
doTests(qvp.first, qvp.second);
365335
}
366336
SECTION("SmallEquivalentValues") {
367-
QuatVecPair qvp =GENERATE(values(SmallEquivalentValues));
337+
QuatVecPair qvp =GENERATE(
338+
values({makePairFromAngleAxis(SMALL,Vector3d::UnitX()),
339+
makePairFromAngleAxis(SMALL,Vector3d::UnitY()),
340+
makePairFromAngleAxis(SMALL,Vector3d::UnitZ()),
341+
makePairFromAngleAxis(SMALLER,Vector3d::UnitX()),
342+
makePairFromAngleAxis(SMALLER,Vector3d::UnitY()),
343+
makePairFromAngleAxis(SMALLER,Vector3d::UnitZ())}));
368344
doTests(qvp.first, qvp.second);
369345
}
370346
SECTION("SmallNegativeVecs") {
371-
QuatVecPair qvp =GENERATE(values(SmallNegativeEquivalentValues));
347+
QuatVecPair qvp =GENERATE(
348+
values({makePairFromAngleAxis(-SMALL,Vector3d::UnitX()),
349+
makePairFromAngleAxis(-SMALL,Vector3d::UnitY()),
350+
makePairFromAngleAxis(-SMALL,Vector3d::UnitZ()),
351+
makePairFromAngleAxis(-SMALLER,Vector3d::UnitX()),
352+
makePairFromAngleAxis(-SMALLER,Vector3d::UnitY()),
353+
makePairFromAngleAxis(-SMALLER,Vector3d::UnitZ())}));
372354
doTests(qvp.first, qvp.second);
373355
}
374356
}

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