1 /*
2 * Copyright (C) 2022 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include <gtest/gtest.h>
18
19 #include "PoseBias.h"
20
21 #include "media/QuaternionUtil.h"
22 #include "TestUtil.h"
23
24 namespace android {
25 namespace media {
26 namespace {
27
28 using Eigen::Quaternionf;
29 using Eigen::Vector3f;
30
TEST(PoseBias,Initial)31 TEST(PoseBias, Initial) {
32 PoseBias bias;
33 EXPECT_EQ(bias.getOutput(), Pose3f());
34 }
35
TEST(PoseBias,Basic)36 TEST(PoseBias, Basic) {
37 Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());
38 Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());
39
40 PoseBias bias;
41 bias.setInput(pose1);
42 EXPECT_EQ(pose1, bias.getOutput());
43 bias.recenter();
44 EXPECT_EQ(bias.getOutput(), Pose3f());
45 bias.setInput(pose2);
46 EXPECT_EQ(bias.getOutput(), pose1.inverse() * pose2);
47 bias.recenter();
48 EXPECT_EQ(bias.getOutput(), Pose3f());
49 }
50
51 } // namespace
52 } // namespace media
53 } // namespace android
54