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Posted to commits@commons.apache.org by ah...@apache.org on 2024/07/08 11:17:09 UTC
(commons-numbers) 07/07: Reinstate quaternion multiplication tests
This is an automated email from the ASF dual-hosted git repository.
aherbert pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/commons-numbers.git
commit 8ad59563ecbdc6986330c25c3e5b7a54e5b61564
Author: Alex Herbert <ah...@apache.org>
AuthorDate: Mon Jul 8 12:14:58 2024 +0100
Reinstate quaternion multiplication tests
Drop test using the vector equivalent multiplication. This duplicates
validation that the result is correct.
---
.../commons/numbers/quaternion/QuaternionTest.java | 91 ++++++----------------
1 file changed, 22 insertions(+), 69 deletions(-)
diff --git a/commons-numbers-quaternion/src/test/java/org/apache/commons/numbers/quaternion/QuaternionTest.java b/commons-numbers-quaternion/src/test/java/org/apache/commons/numbers/quaternion/QuaternionTest.java
index a1512be8..690d0b82 100644
--- a/commons-numbers-quaternion/src/test/java/org/apache/commons/numbers/quaternion/QuaternionTest.java
+++ b/commons-numbers-quaternion/src/test/java/org/apache/commons/numbers/quaternion/QuaternionTest.java
@@ -118,9 +118,8 @@ class QuaternionTest {
Assertions.assertEquals(-q3, qConjugate.getZ());
}
- /* TODO remove dependency on Vector3D
@Test
- final void testProductQuaternionQuaternion() {
+ final void testMultiplyQuaternionQuaternion() {
// Case : analytic test case
@@ -128,44 +127,25 @@ class QuaternionTest {
final Quaternion qB = Quaternion.of(6, 2, 1, -9);
final Quaternion qResult = Quaternion.multiply(qA, qB);
- Assert.assertEquals(44, qResult.getW(), EPS);
- Assert.assertEquals(28, qResult.getX(), EPS);
- Assert.assertEquals(-4.5, qResult.getY(), EPS);
- Assert.assertEquals(21.5, qResult.getZ(), EPS);
-
- // comparison with the result given by the formula :
- // qResult = (scalarA * scalarB - vectorA . vectorB) + (scalarA * vectorB + scalarB * vectorA + vectorA ^
- // vectorB)
-
- final Vector3D vectorA = new Vector3D(qA.getVectorPart());
- final Vector3D vectorB = new Vector3D(qB.getVectorPart());
- final Vector3D vectorResult = new Vector3D(qResult.getVectorPart());
-
- final double scalarPartRef = qA.getScalarPart() * qB.getScalarPart() - Vector3D.dotProduct(vectorA, vectorB);
-
- Assert.assertEquals(scalarPartRef, qResult.getScalarPart(), EPS);
-
- final Vector3D vectorPartRef = ((vectorA.scalarMultiply(qB.getScalarPart())).add(vectorB.scalarMultiply(qA
- .getScalarPart()))).add(Vector3D.crossProduct(vectorA, vectorB));
- final double norm = (vectorResult.subtract(vectorPartRef)).norm();
-
- Assert.assertEquals(0, norm, EPS);
+ Assertions.assertEquals(44, qResult.getW(), EPS);
+ Assertions.assertEquals(28, qResult.getX(), EPS);
+ Assertions.assertEquals(-4.5, qResult.getY(), EPS);
+ Assertions.assertEquals(21.5, qResult.getZ(), EPS);
// Conjugate of the product of two quaternions and product of their conjugates :
// Conj(qA * qB) = Conj(qB) * Conj(qA)
- final Quaternion conjugateOfProduct = qB.getConjugate().multiply(qA.getConjugate());
- final Quaternion productOfConjugate = (qA.multiply(qB)).getConjugate();
+ final Quaternion productOfConjugate = qB.conjugate().multiply(qA.conjugate());
+ final Quaternion conjugateOfProduct = (qA.multiply(qB)).conjugate();
- Assert.assertEquals(conjugateOfProduct.getW(), productOfConjugate.getW(), EPS);
- Assert.assertEquals(conjugateOfProduct.getX(), productOfConjugate.getX(), EPS);
- Assert.assertEquals(conjugateOfProduct.getY(), productOfConjugate.getY(), EPS);
- Assert.assertEquals(conjugateOfProduct.getZ(), productOfConjugate.getZ(), EPS);
+ Assertions.assertEquals(productOfConjugate.getW(), conjugateOfProduct.getW(), EPS);
+ Assertions.assertEquals(productOfConjugate.getX(), conjugateOfProduct.getX(), EPS);
+ Assertions.assertEquals(productOfConjugate.getY(), conjugateOfProduct.getY(), EPS);
+ Assertions.assertEquals(productOfConjugate.getZ(), conjugateOfProduct.getZ(), EPS);
}
- */
- /* TODO remove dependency on Vector3D
+
@Test
- final void testProductQuaternionVector() {
+ final void testMultiplyQuaternionVector() {
// Case : Product between a vector and a quaternion : QxV
@@ -173,48 +153,21 @@ class QuaternionTest {
final double[] vector = {2.0, 1.0, 3.0};
final Quaternion qResultQxV = Quaternion.multiply(quaternion, Quaternion.of(vector));
- Assert.assertEquals(-19, qResultQxV.getW(), EPS);
- Assert.assertEquals(3, qResultQxV.getX(), EPS);
- Assert.assertEquals(-13, qResultQxV.getY(), EPS);
- Assert.assertEquals(21, qResultQxV.getZ(), EPS);
-
- // comparison with the result given by the formula :
- // qResult = (- vectorQ . vector) + (scalarQ * vector + vectorQ ^ vector)
-
- final double[] vectorQ = quaternion.getVectorPart();
- final double[] vectorResultQxV = qResultQxV.getVectorPart();
-
- final double scalarPartRefQxV = -Vector3D.dotProduct(new Vector3D(vectorQ), new Vector3D(vector));
- Assert.assertEquals(scalarPartRefQxV, qResultQxV.getScalarPart(), EPS);
-
- final Vector3D vectorPartRefQxV = (new Vector3D(vector).scalarMultiply(quaternion.getScalarPart())).add(Vector3D
- .crossProduct(new Vector3D(vectorQ), new Vector3D(vector)));
- final double normQxV = (new Vector3D(vectorResultQxV).subtract(vectorPartRefQxV)).norm();
- Assert.assertEquals(0, normQxV, EPS);
+ Assertions.assertEquals(-19, qResultQxV.getW(), EPS);
+ Assertions.assertEquals(3, qResultQxV.getX(), EPS);
+ Assertions.assertEquals(-13, qResultQxV.getY(), EPS);
+ Assertions.assertEquals(21, qResultQxV.getZ(), EPS);
// Case : Product between a vector and a quaternion : VxQ
final Quaternion qResultVxQ = Quaternion.multiply(Quaternion.of(vector), quaternion);
- Assert.assertEquals(-19, qResultVxQ.getW(), EPS);
- Assert.assertEquals(13, qResultVxQ.getX(), EPS);
- Assert.assertEquals(21, qResultVxQ.getY(), EPS);
- Assert.assertEquals(3, qResultVxQ.getZ(), EPS);
-
- final double[] vectorResultVxQ = qResultVxQ.getVectorPart();
-
- // comparison with the result given by the formula :
- // qResult = (- vector . vectorQ) + (scalarQ * vector + vector ^ vectorQ)
-
- final double scalarPartRefVxQ = -Vector3D.dotProduct(new Vector3D(vectorQ), new Vector3D(vector));
- Assert.assertEquals(scalarPartRefVxQ, qResultVxQ.getScalarPart(), EPS);
-
- final Vector3D vectorPartRefVxQ = (new Vector3D(vector).scalarMultiply(quaternion.getScalarPart())).add(Vector3D
- .crossProduct(new Vector3D(vector), new Vector3D(vectorQ)));
- final double normVxQ = (new Vector3D(vectorResultVxQ).subtract(vectorPartRefVxQ)).norm();
- Assert.assertEquals(0, normVxQ, EPS);
+ Assertions.assertEquals(-19, qResultVxQ.getW(), EPS);
+ Assertions.assertEquals(13, qResultVxQ.getX(), EPS);
+ Assertions.assertEquals(21, qResultVxQ.getY(), EPS);
+ Assertions.assertEquals(3, qResultVxQ.getZ(), EPS);
}
- */
+
@Test
final void testDotProductQuaternionQuaternion() {
// expected output