math_rotation_matrix_test.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_MATH_ROTATION_MATRIX_TEST_H_
#define DESIGNLAB_MATH_ROTATION_MATRIX_TEST_H_
 
#include <doctest.h>
 
#include "math_rotation_matrix.h"
 
TEST_SUITE("RotationMatrix3x3")
{
    using designlab::RotationMatrix3x3;
 
    TEST_CASE("ConstructorTest_ShouldCreateIdentityMatrix")
    {
        // デフォルトコンストラクタで単位行列が生成される．
        const RotationMatrix3x3 rot_mat;
 
        // 単位行列の確認．
        CHECK(rot_mat.element[0][0] == doctest::Approx(1.0f));
        CHECK(rot_mat.element[0][1] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[0][2] == doctest::Approx(0.0f));
 
        CHECK(rot_mat.element[1][0] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[1][1] == doctest::Approx(1.0f));
        CHECK(rot_mat.element[1][2] == doctest::Approx(0.0f));
 
        CHECK(rot_mat.element[2][0] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[2][1] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[2][2] == doctest::Approx(1.0f));
    }
 
    TEST_CASE("ConstructorTest_ShouldCreateArbitraryMatrix")
    {
        // 任意の行列を生成する．
        const RotationMatrix3x3 rot_mat(1.0f, 2.0f, 3.0f,
                                        4.0f, 5.0f, 6.0f,
                                        7.0f, 8.0f, 9.0f);
 
        // 任意の行列の確認．
        CHECK(rot_mat.element[0][0] == doctest::Approx(1.0f));
        CHECK(rot_mat.element[0][1] == doctest::Approx(2.0f));
        CHECK(rot_mat.element[0][2] == doctest::Approx(3.0f));
 
        CHECK(rot_mat.element[1][0] == doctest::Approx(4.0f));
        CHECK(rot_mat.element[1][1] == doctest::Approx(5.0f));
        CHECK(rot_mat.element[1][2] == doctest::Approx(6.0f));
 
        CHECK(rot_mat.element[2][0] == doctest::Approx(7.0f));
        CHECK(rot_mat.element[2][1] == doctest::Approx(8.0f));
        CHECK(rot_mat.element[2][2] == doctest::Approx(9.0f));
    }
 
    TEST_CASE("ArithmeticOperatorTest")
    {
        SUBCASE("Multiplication")
        {
            // 任意の行列を生成する．
            const RotationMatrix3x3 rot_mat1(1.0f, 2.0f, 3.0f,
                                             4.0f, 5.0f, 6.0f,
                                             7.0f, 8.0f, 9.0f);
 
            // 任意の行列を生成する．
            const RotationMatrix3x3 rot_mat2(9.0f, 8.0f, 7.0f,
                                             6.0f, 5.0f, 4.0f,
                                             3.0f, 2.0f, 1.0f);
 
            const RotationMatrix3x3 actual = rot_mat1 * rot_mat2;
 
            // 任意の行列を生成する．
            const RotationMatrix3x3 expect(30.0f, 24.0f, 18.0f,
                                             84.0f, 69.0f, 54.0f,
                                             138.0f, 114.0f, 90.0f);
 
            // 任意の行列の確認．
            CHECK(actual.element[0][0] == doctest::Approx(expect.element[0][0]));
            CHECK(actual.element[0][1] == doctest::Approx(expect.element[0][1]));
            CHECK(actual.element[0][2] == doctest::Approx(expect.element[0][2]));
 
            CHECK(actual.element[1][0] == doctest::Approx(expect.element[1][0]));
            CHECK(actual.element[1][1] == doctest::Approx(expect.element[1][1]));
            CHECK(actual.element[1][2] == doctest::Approx(expect.element[1][2]));
 
            CHECK(actual.element[2][0] == doctest::Approx(expect.element[2][0]));
            CHECK(actual.element[2][1] == doctest::Approx(expect.element[2][1]));
            CHECK(actual.element[2][2] == doctest::Approx(expect.element[2][2]));
        }
    }
 
    TEST_CASE("CreateRotationMatrixXTest")
    {
        using designlab::math_util::ConvertDegToRad;
 
        constexpr float angle = ConvertDegToRad(30.0f);
 
        const RotationMatrix3x3 rot_mat = RotationMatrix3x3::CreateRotationMatrixX(angle);
 
        const float cos_angle = std::cos(angle);
        const float sin_angle = std::sin(angle);
 
        CHECK(rot_mat.element[0][0] == doctest::Approx(1.0f));
        CHECK(rot_mat.element[0][1] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[0][2] == doctest::Approx(0.0f));
 
        CHECK(rot_mat.element[1][0] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[1][1] == doctest::Approx(cos_angle));
        CHECK(rot_mat.element[1][2] == doctest::Approx(-sin_angle));
 
        CHECK(rot_mat.element[2][0] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[2][1] == doctest::Approx(sin_angle));
        CHECK(rot_mat.element[2][2] == doctest::Approx(cos_angle));
    }
 
    TEST_CASE("CreateRotationMatrixYTest")
    {
        using designlab::math_util::ConvertDegToRad;
 
        constexpr float angle = ConvertDegToRad(30.0f);
 
        const RotationMatrix3x3 rot_mat = RotationMatrix3x3::CreateRotationMatrixY(angle);
 
        const float cos_angle = std::cos(angle);
        const float sin_angle = std::sin(angle);
 
        CHECK(rot_mat.element[0][0] == doctest::Approx(cos_angle));
        CHECK(rot_mat.element[0][1] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[0][2] == doctest::Approx(sin_angle));
 
        CHECK(rot_mat.element[1][0] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[1][1] == doctest::Approx(1.0f));
        CHECK(rot_mat.element[1][2] == doctest::Approx(0.0f));
 
        CHECK(rot_mat.element[2][0] == doctest::Approx(-sin_angle));
        CHECK(rot_mat.element[2][1] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[2][2] == doctest::Approx(cos_angle));
    }
 
    TEST_CASE("CreateRotationMatrixZTest")
    {
        using designlab::math_util::ConvertDegToRad;
 
        constexpr float angle = ConvertDegToRad(30.0f);
 
        const RotationMatrix3x3 rot_mat = RotationMatrix3x3::CreateRotationMatrixZ(angle);
 
        const float cos_angle = std::cos(angle);
        const float sin_angle = std::sin(angle);
 
        CHECK(rot_mat.element[0][0] == doctest::Approx(cos_angle));
        CHECK(rot_mat.element[0][1] == doctest::Approx(-sin_angle));
        CHECK(rot_mat.element[0][2] == doctest::Approx(0.0f));
 
        CHECK(rot_mat.element[1][0] == doctest::Approx(sin_angle));
        CHECK(rot_mat.element[1][1] == doctest::Approx(cos_angle));
        CHECK(rot_mat.element[1][2] == doctest::Approx(0.0f));
 
        CHECK(rot_mat.element[2][0] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[2][1] == doctest::Approx(0.0f));
        CHECK(rot_mat.element[2][2] == doctest::Approx(1.0f));
    }
}
 
#endif  // DESIGNLAB_MATH_ROTATION_MATRIX_TEST_H_