sysrap/tests/SCenterExtentFrameTest.cc

0001 #include <algorithm>
0002
0003 #include "SCenterExtentFrame.hh"
0004 #include "SCenterExtentFrameTest.hh"
0005 #include "SPresent.hh"
0006
0007 template<typename T>
0008 SCenterExtentFrameTest<T>::SCenterExtentFrameTest( const SCenterExtentFrame<T>& _cef )
0009     :
0010     cef(_cef),
0011     ce(_cef.ce)
0012 {
0013     const glm::tmat4x4<T>& scale = cef.scale ;
0014     const glm::tmat4x4<T>& iscale = cef.iscale ;
0015     const glm::tmat4x4<T>& translate = cef.translate ;
0016     const glm::tmat4x4<T>& itranslate = cef.itranslate ;
0017     const glm::tmat4x4<T>& rotate = cef.rotate ;
0018     const glm::tmat4x4<T>& irotate = cef.irotate ;
0019
0020     _world2model["0"]    = irotate * iscale * itranslate ;
0021     _model2world["0"]    = translate * scale * rotate ;
0022     modes.push_back("0");   pref_modes.push_back("0") ;
0023
0024     _world2model["SRT"]  = iscale * irotate * itranslate ; modes.push_back("SRT"); pref_modes.push_back("SRT") ;
0025     _world2model["RST"]  = irotate * iscale * itranslate ; modes.push_back("RST"); pref_modes.push_back("RST") ;
0026     _world2model["RTS"]  = irotate * itranslate * iscale ; modes.push_back("RTS");
0027     _world2model["TRS"]  = itranslate * irotate * iscale ; modes.push_back("TRS");
0028     _world2model["TSR"]  = itranslate * iscale * irotate ; modes.push_back("TSR");
0029     _world2model["STR"]  = iscale * itranslate * irotate ; modes.push_back("STR");
0030
0031     _model2world["SRT"]  = scale * rotate * translate ;
0032     _model2world["RST"]  = rotate * scale * translate ;
0033     _model2world["RTS"]  = rotate * translate * scale ;
0034     _model2world["TRS"]  = translate * rotate * scale ;
0035     _model2world["TSR"]  = translate * scale * rotate ;
0036     _model2world["STR"]  = scale * translate * rotate ;
0037 }
0038
0039 /**
0040 Observations
0041
0042 * NB THIS IS WITH UNIFORM S
0043 * order of S and R makes no difference
0044 * order of T and R matters
0045
0046 **/
0047
0048 template<typename T>
0049 void SCenterExtentFrameTest<T>::dump(char m)
0050 {
0051     cef.dump("SCenterExtentFrameTest::dump");
0052
0053     const std::vector<std::string>& mds = m == 'P' ? pref_modes : modes ;
0054
0055     for(unsigned pass=0 ; pass < 2 ; pass++)
0056     {
0057         std::cout << std::endl << std::endl ;
0058         for(unsigned i=0 ; i < mds.size() ; i++)
0059         {
0060             const std::string& mode = mds[i] ;
0061             std::string rmode(mode);
0062             std::reverse(rmode.begin(), rmode.end());
0063             const char* w2m_mode = mode.c_str() ;
0064             const char* m2w_mode = rmode.c_str() ;
0065             switch(pass)
0066             {
0067                case 0: std::cout << SPresent( _world2model[w2m_mode],  " world2model", w2m_mode )   << std::endl ; break ;
0068                case 1: std::cout << SPresent( _model2world[m2w_mode],  " model2world", m2w_mode )   << std::endl ; break ;
0069             }
0070         }
0071     }
0072 }
0073
0074 template<typename T>
0075 void SCenterExtentFrameTest<T>::check(const std::vector<glm::vec4>& world, const std::vector<std::string>& label, const char* title, const char* w2m_mode, const char* m2w_mode )
0076 {
0077     const glm::tmat4x4<T>& w2m = _world2model[w2m_mode] ;
0078     const glm::tmat4x4<T>& m2w = _model2world[m2w_mode] ;
0079
0080     std::cout << std::endl << title << " w2m_mode " << w2m_mode << " m2w_mode " << m2w_mode << std::endl ;
0081     for(unsigned i=0 ; i < world.size() ; i++)
0082     {
0083         const glm::vec4& world_pos = world[i] ;
0084         glm::vec4 model_pos = w2m * world_pos ;
0085         glm::vec4 world_pos2 = m2w * model_pos ;
0086
0087         std::cout
0088             << std::setw(10) << label[i]
0089             << SPresent( world_pos, "world_pos")
0090             << SPresent( model_pos, "model_pos")
0091             << SPresent( world_pos2, "world_pos2")
0092             << std::endl
0093             ;
0094     }
0095 }
0096
0097 template<typename T>
0098 void SCenterExtentFrameTest<T>::check(char m)
0099 {
0100     dump();
0101     std::vector<glm::vec4> world ;
0102     std::vector<std::string> label ;
0103
0104     world.push_back( { ce.x       , ce.y        , ce.z       , 1.0 } );  label.push_back("origin") ;
0105     world.push_back( { ce.x + ce.w, ce.y        , ce.z       , 1.0 } );  label.push_back("+X") ;
0106     world.push_back( { ce.x - ce.w, ce.y        , ce.z       , 1.0 } );  label.push_back("-X") ;
0107     world.push_back( { ce.x       , ce.y+ce.w   , ce.z       , 1.0 } );  label.push_back("+Y") ;
0108     world.push_back( { ce.x       , ce.y-ce.w   , ce.z       , 1.0 } );  label.push_back("-Y") ;
0109     world.push_back( { ce.x       , ce.y        , ce.z+ce.w  , 1.0 } );  label.push_back("+Z") ;
0110     world.push_back( { ce.x       , ce.y        , ce.z-ce.w  , 1.0 } );  label.push_back("-Z") ;
0111     world.push_back( { ce.x + ce.w, ce.y + ce.w , ce.z       , 1.0 } );  label.push_back("+X+Y") ;
0112     world.push_back( { ce.x - ce.w, ce.y - ce.w , ce.z       , 1.0 } );  label.push_back("-X-Y") ;
0113     world.push_back( { ce.x - ce.w, ce.y - ce.w , ce.z - ce.w, 1.0 } );  label.push_back("-X-Y-Z") ;
0114     world.push_back( { ce.x + ce.w, ce.y + ce.w , ce.z + ce.w, 1.0 } );  label.push_back("+X+Y+Z") ;
0115
0116     const std::vector<std::string>& mds = m == 'P' ? pref_modes : modes ;
0117
0118     for(unsigned i=0 ; i < mds.size() ; i++)
0119     {
0120         const std::string& mode = mds[i] ;
0121         std::string rmode(mode);
0122         std::reverse(rmode.begin(), rmode.end());
0123
0124         const char* w2m_mode = mode.c_str() ;
0125         const char* m2w_mode = rmode.c_str() ;
0126
0127         check(world, label, " world->model->world ", w2m_mode, m2w_mode );
0128     }
0129 }
0130
0131
0132
0133 void test_Narrow()
0134 {
0135
0136
0137
0138 }
0139
0140
0141 int main(int argc, char** argv)
0142 {
0143     double cx = 100. ;
0144     double cy = 100. ;
0145     double cz = 100. ;
0146     double extent = 5. ;
0147     bool rtp_tangential = true ;
0148
0149     SCenterExtentFrame<double> f(cx,cy,cz,extent,rtp_tangential);
0150     SCenterExtentFrameTest<double> ft(f);
0151     ft.check('P');
0152
0153     return 0 ;
0154 }
0155