test_geom.cpp File Reference

#include "test.h"
#include <carla/geom/Acceleration.h>
#include <carla/geom/AngularVelocity.h>
#include <carla/geom/BoundingBox.h>
#include <carla/geom/Math.h>
#include <carla/geom/Quaternion.h>
#include <carla/geom/RightHandedRotation.h>
#include <carla/geom/RightHandedTransform.h>
#include <carla/geom/RightHandedVector3D.h>
#include <carla/ros2/publishers/TransformQuaternion.h>
#include <carla/geom/Transform.h>
#include <carla/geom/Vector3D.h>
#include <carla/geom/Velocity.h>
#include <array>
#include <cmath>
#include <limits>

Go to the source code of this file.

Namespaces
namespace	carla
	This file contains definitions of common data structures used in traffic manager.
namespace	carla::geom

Functions
std::ostream &	carla::geom::operator<< (std::ostream &out, const Vector3D &vector3D)
	TEST (geom, angular_velocity_and_acceleration_inherit_vector3d_storage)
	TEST (geom, bbox_get_local_vertices_get_world_vertices_coherence)
	TEST (geom, distance)
	TEST (geom, engine_convention_pitch_up_roll_right_side_down)
	TEST (geom, forward_vector)
	TEST (geom, get_inverse_matrix_is_inverse_of_get_matrix)
	TEST (geom, get_matrix_agrees_with_rotate_vector_and_basis_vectors)
	TEST (geom, inverse_rotate_vector_undoes_rotate_vector)
	TEST (geom, nearest_point_arc)
	TEST (geom, nearest_point_segment)
	TEST (geom, quaternion_basis_vectors_for_identity)
	TEST (geom, quaternion_basis_vectors_for_yaw_90)
	TEST (geom, quaternion_conjugate_equals_inverse_for_unit_quaternion)
	TEST (geom, quaternion_default_is_identity)
	TEST (geom, quaternion_get_forward_matches_rotation_get_forward)
	TEST (geom, quaternion_get_yaw_round_trip)
	TEST (geom, quaternion_hamilton_product_yaw_compose)
	TEST (geom, quaternion_inverse_is_left_inverse)
	TEST (geom, quaternion_pitch_90_forward_is_positive_z)
	TEST (geom, quaternion_right_handed_rotation_round_trips)
	TEST (geom, right_handed_boundary_leaves_engine_convention_untouched)
	TEST (geom, right_handed_location_mirrors_y)
	TEST (geom, right_handed_matrix_is_a_proper_rotation)
	TEST (geom, right_handed_matrix_is_s_m_s)
	TEST (geom, right_handed_quaternion_agrees_with_ros2_bridge)
	TEST (geom, right_handed_quaternion_reproduces_right_handed_matrix)
	TEST (geom, right_handed_rotation_negates_pitch_and_yaw)
	TEST (geom, right_handed_transform_round_trips)
	TEST (geom, right_handed_vector3d_boundary_negation)
	TEST (geom, single_point_no_transform)
	TEST (geom, single_point_rotation)
	TEST (geom, single_point_transform_inverse_transform_coherence)
	TEST (geom, single_point_translation)
	TEST (geom, single_point_translation_and_rotation)
	TEST (geom, velocity_inherits_vector3d_storage)

Function Documentation

TEST() [1/35]

TEST	(	geom	,
		angular_velocity_and_acceleration_inherit_vector3d_storage
	)

Definition at line 481 of file test_geom.cpp.

TEST() [2/35]

TEST	(	geom	,
		bbox_get_local_vertices_get_world_vertices_coherence
	)

Definition at line 92 of file test_geom.cpp.

References carla::geom::BoundingBox::GetLocalVertices(), carla::geom::BoundingBox::GetWorldVertices(), and carla::geom::Transform::TransformPoint().

TEST() [3/35]

TEST	(	geom	,
		distance
	)

Definition at line 154 of file test_geom.cpp.

References carla::geom::Math::Distance().

TEST() [4/35]

TEST	(	geom	,
		engine_convention_pitch_up_roll_right_side_down
	)

Definition at line 349 of file test_geom.cpp.

References carla::geom::Math::ToRadians(), carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [5/35]

TEST	(	geom	,
		forward_vector
	)

Definition at line 215 of file test_geom.cpp.

References carla::geom::Rotation::GetForwardVector().

TEST() [6/35]

TEST	(	geom	,
		get_inverse_matrix_is_inverse_of_get_matrix
	)

Definition at line 424 of file test_geom.cpp.

TEST() [7/35]

TEST	(	geom	,
		get_matrix_agrees_with_rotate_vector_and_basis_vectors
	)

Definition at line 377 of file test_geom.cpp.

References carla::geom::Quaternion::GetForwardVector(), carla::geom::Quaternion::GetRightVector(), carla::geom::Quaternion::GetUpVector(), carla::geom::Vector3D::x, x, carla::geom::Vector3D::y, y, carla::geom::Vector3D::z, and z.

TEST() [8/35]

TEST	(	geom	,
		inverse_rotate_vector_undoes_rotate_vector
	)

Definition at line 450 of file test_geom.cpp.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [9/35]

TEST	(	geom	,
		nearest_point_arc
	)

Definition at line 240 of file test_geom.cpp.

References carla::geom::Math::DistanceArcToPoint().

TEST() [10/35]

TEST	(	geom	,
		nearest_point_segment
	)

Definition at line 167 of file test_geom.cpp.

References carla::geom::Math::DistanceSegmentToPoint(), and point.

TEST() [11/35]

TEST	(	geom	,
		quaternion_basis_vectors_for_identity
	)

Definition at line 499 of file test_geom.cpp.

References carla::geom::Quaternion::GetForwardVector(), carla::geom::Quaternion::GetRightVector(), carla::geom::Quaternion::GetUpVector(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [12/35]

TEST	(	geom	,
		quaternion_basis_vectors_for_yaw_90
	)

Definition at line 521 of file test_geom.cpp.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [13/35]

TEST	(	geom	,
		quaternion_conjugate_equals_inverse_for_unit_quaternion
	)

Definition at line 556 of file test_geom.cpp.

References carla::geom::Quaternion::Conjugate(), carla::geom::Quaternion::Inverse(), carla::geom::Quaternion::w, carla::geom::Quaternion::x, carla::geom::Quaternion::y, and carla::geom::Quaternion::z.

TEST() [14/35]

TEST	(	geom	,
		quaternion_default_is_identity
	)

Definition at line 266 of file test_geom.cpp.

References carla::geom::Quaternion::RotatedVector(), carla::geom::Quaternion::w, carla::geom::Quaternion::x, carla::geom::Vector3D::x, carla::geom::Quaternion::y, carla::geom::Vector3D::y, carla::geom::Quaternion::z, and carla::geom::Vector3D::z.

TEST() [15/35]

TEST	(	geom	,
		quaternion_get_forward_matches_rotation_get_forward
	)

Definition at line 281 of file test_geom.cpp.

References carla::geom::Quaternion::GetForwardVector(), carla::geom::Rotation::pitch, carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [16/35]

TEST	(	geom	,
		quaternion_get_yaw_round_trip
	)

Definition at line 303 of file test_geom.cpp.

References carla::geom::Rotation::pitch, carla::geom::Rotation::roll, and carla::geom::Rotation::yaw.

TEST() [17/35]

TEST	(	geom	,
		quaternion_hamilton_product_yaw_compose
	)

Definition at line 543 of file test_geom.cpp.

References carla::geom::Quaternion::GetForwardVector(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [18/35]

TEST	(	geom	,
		quaternion_inverse_is_left_inverse
	)

Definition at line 316 of file test_geom.cpp.

References carla::geom::Quaternion::Inverse(), carla::geom::Quaternion::w, carla::geom::Quaternion::x, carla::geom::Quaternion::y, and carla::geom::Quaternion::z.

TEST() [19/35]

TEST	(	geom	,
		quaternion_pitch_90_forward_is_positive_z
	)

Definition at line 338 of file test_geom.cpp.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [20/35]

TEST	(	geom	,
		quaternion_right_handed_rotation_round_trips
	)

Definition at line 755 of file test_geom.cpp.

References carla::geom::RightHandedRotation::pitch, carla::geom::RightHandedRotation::roll, carla::geom::Quaternion::ToRightHandedRotation(), and carla::geom::RightHandedRotation::yaw.

TEST() [21/35]

TEST	(	geom	,
		right_handed_boundary_leaves_engine_convention_untouched
	)

Definition at line 773 of file test_geom.cpp.

References carla::geom::Math::ToRadians().

TEST() [22/35]

TEST	(	geom	,
		right_handed_location_mirrors_y
	)

Definition at line 644 of file test_geom.cpp.

References carla::geom::Location::FromRightHanded(), carla::geom::RightHandedVector3D::x, carla::geom::Vector3D::x, carla::geom::RightHandedVector3D::y, carla::geom::Vector3D::y, carla::geom::RightHandedVector3D::z, and carla::geom::Vector3D::z.

TEST() [23/35]

TEST	(	geom	,
		right_handed_matrix_is_a_proper_rotation
	)

Definition at line 694 of file test_geom.cpp.

TEST() [24/35]

TEST	(	geom	,
		right_handed_matrix_is_s_m_s
	)

Definition at line 678 of file test_geom.cpp.

TEST() [25/35]

TEST	(	geom	,
		right_handed_quaternion_agrees_with_ros2_bridge
	)

Definition at line 709 of file test_geom.cpp.

References carla::geom::RightHandedTransform::GetQuaternion(), carla::geom::RightHandedTransform::location, carla::ros2::TransformFromCarlaRotation(), carla::geom::Quaternion::w, carla::geom::Quaternion::x, carla::geom::RightHandedVector3D::x, carla::geom::Quaternion::y, carla::geom::RightHandedVector3D::y, carla::geom::Quaternion::z, and carla::geom::RightHandedVector3D::z.

TEST() [26/35]

TEST	(	geom	,
		right_handed_quaternion_reproduces_right_handed_matrix
	)

Definition at line 732 of file test_geom.cpp.

References carla::geom::RightHandedTransform::GetMatrix(), carla::geom::RightHandedTransform::GetQuaternion(), carla::geom::Quaternion::RotatedVector(), carla::geom::RightHandedVector3D::x, carla::geom::RightHandedVector3D::y, and carla::geom::RightHandedVector3D::z.

TEST() [27/35]

TEST	(	geom	,
		right_handed_rotation_negates_pitch_and_yaw
	)

Definition at line 623 of file test_geom.cpp.

References carla::geom::Rotation::FromRightHanded(), carla::geom::RightHandedRotation::pitch, carla::geom::Rotation::pitch, carla::geom::RightHandedRotation::roll, carla::geom::Rotation::roll, carla::geom::RightHandedRotation::yaw, and carla::geom::Rotation::yaw.

TEST() [28/35]

TEST	(	geom	,
		right_handed_transform_round_trips
	)

Definition at line 657 of file test_geom.cpp.

References carla::geom::Transform::FromRightHanded(), carla::geom::RightHandedTransform::location, carla::geom::Transform::location, carla::geom::RightHandedRotation::pitch, carla::geom::Rotation::pitch, carla::geom::RightHandedRotation::roll, carla::geom::Rotation::roll, carla::geom::RightHandedTransform::rotation, carla::geom::Transform::rotation, carla::geom::RightHandedVector3D::x, carla::geom::Vector3D::x, carla::geom::RightHandedVector3D::y, carla::geom::Vector3D::y, carla::geom::RightHandedRotation::yaw, carla::geom::Rotation::yaw, carla::geom::RightHandedVector3D::z, and carla::geom::Vector3D::z.

TEST() [29/35]

TEST	(	geom	,
		right_handed_vector3d_boundary_negation
	)

Definition at line 251 of file test_geom.cpp.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [30/35]

TEST	(	geom	,
		single_point_no_transform
	)

Definition at line 38 of file test_geom.cpp.

References point, carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [31/35]

TEST	(	geom	,
		single_point_rotation
	)

Definition at line 118 of file test_geom.cpp.

References point, carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [32/35]

TEST	(	geom	,
		single_point_transform_inverse_transform_coherence
	)

Definition at line 72 of file test_geom.cpp.

References carla::geom::Transform::InverseTransformPoint(), point, and carla::geom::Transform::TransformPoint().

TEST() [33/35]

TEST	(	geom	,
		single_point_translation
	)

Definition at line 55 of file test_geom.cpp.

References point, carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [34/35]

TEST	(	geom	,
		single_point_translation_and_rotation
	)

Definition at line 133 of file test_geom.cpp.

References point, carla::geom::Transform::TransformPoint(), carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.

TEST() [35/35]

TEST	(	geom	,
		velocity_inherits_vector3d_storage
	)

Definition at line 465 of file test_geom.cpp.

References carla::geom::Vector3D::x, carla::geom::Vector3D::y, and carla::geom::Vector3D::z.