@Test public void testTransformWithVector4D() throws Exception { Random random = new Random(5634L); AffineTransform transform = EuclidCoreRandomTools.nextAffineTransform(random); Vector4D vectorOriginal = EuclidCoreRandomTools.nextVector4D(random); Vector4D vectorExpected = new Vector4D(); Vector4D vectorActual = new Vector4D(); Vector3D vector3D = new Vector3D(vectorOriginal.getX(), vectorOriginal.getY(), vectorOriginal.getZ()); transform.transform(vector3D); vectorExpected.set(vector3D); vectorExpected.setS(vectorOriginal.getS()); vectorExpected.addX(vectorExpected.getS() * transform.getM03()); vectorExpected.addY(vectorExpected.getS() * transform.getM13()); vectorExpected.addZ(vectorExpected.getS() * transform.getM23()); transform.transform(vectorOriginal, vectorActual); EuclidCoreTestTools.assertTuple4DEquals(vectorExpected, vectorActual, EPS); vectorActual.set(vectorOriginal); transform.transform(vectorActual); EuclidCoreTestTools.assertTuple4DEquals(vectorExpected, vectorActual, EPS); // Try with dense-matrix DenseMatrix64F transformDenseMatrix = new DenseMatrix64F(4, 4); transform.get(transformDenseMatrix); DenseMatrix64F vectorOriginalDenseMatrix = new DenseMatrix64F(4, 1); vectorOriginal.get(vectorOriginalDenseMatrix); DenseMatrix64F vectorTransformedDenseMatrix = new DenseMatrix64F(4, 1); CommonOps.mult(transformDenseMatrix, vectorOriginalDenseMatrix, vectorTransformedDenseMatrix); vectorExpected.set(vectorTransformedDenseMatrix); EuclidCoreTestTools.assertTuple4DEquals(vectorExpected, vectorActual, EPS); }
@Test public void testTransformWithVector4D() throws Exception { Random random = new Random(5634L); RigidBodyTransform transform = EuclidCoreRandomTools.nextRigidBodyTransform(random); Vector4D vectorOriginal = EuclidCoreRandomTools.nextVector4D(random); Vector4D vectorExpected = new Vector4D(); Vector4D vectorActual = new Vector4D(); Vector3D vector3D = new Vector3D(vectorOriginal.getX(), vectorOriginal.getY(), vectorOriginal.getZ()); transform.transform(vector3D); vectorExpected.set(vector3D); vectorExpected.setS(vectorOriginal.getS()); vectorExpected.addX(vectorExpected.getS() * transform.getM03()); vectorExpected.addY(vectorExpected.getS() * transform.getM13()); vectorExpected.addZ(vectorExpected.getS() * transform.getM23()); transform.transform(vectorOriginal, vectorActual); EuclidCoreTestTools.assertTuple4DEquals(vectorExpected, vectorActual, EPS); vectorActual.set(vectorOriginal); transform.transform(vectorActual); EuclidCoreTestTools.assertTuple4DEquals(vectorExpected, vectorActual, EPS); // Try with dense-matrix DenseMatrix64F transformDenseMatrix = new DenseMatrix64F(4, 4); transform.get(transformDenseMatrix); DenseMatrix64F vectorOriginalDenseMatrix = new DenseMatrix64F(4, 1); vectorOriginal.get(vectorOriginalDenseMatrix); DenseMatrix64F vectorTransformedDenseMatrix = new DenseMatrix64F(4, 1); CommonOps.mult(transformDenseMatrix, vectorOriginalDenseMatrix, vectorTransformedDenseMatrix); vectorExpected.set(vectorTransformedDenseMatrix); EuclidCoreTestTools.assertTuple4DEquals(vectorExpected, vectorActual, EPS); }
Vector4D randomTuple = EuclidCoreRandomTools.nextVector4D(random); double[] array = new double[4]; randomTuple.get(array); FrameVector4D frameVector4D = new FrameVector4D(randomFrame, array); assertTrue(frameVector4D.getReferenceFrame() == randomFrame);