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Add adding and subtraction operations between a number and a quaternion;

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fix a typo;
Add documentation of quaternion operators;
Restrict the type of scalar: the same as quaternion;
This commit is contained in:
Kong Liangqian
2020-11-24 18:35:39 +08:00
parent 0105f8fa38
commit 8e32566583
3 changed files with 389 additions and 37 deletions
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modules/core/test/test_quaternion.cpp
+12 -4
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@@ -18,7 +18,7 @@ protected:
}
double scalar = 2.5;
double angle = CV_PI;
int qNorm2 = 2;
double qNorm2 = 2;
Vec<double, 3> axis{1, 1, 1};
Vec<double, 3> unAxis{0, 0, 0};
Vec<double, 3> unitAxis{1.0 / sqrt(3), 1.0 / sqrt(3), 1.0 / sqrt(3)};
@@ -124,7 +124,7 @@ TEST_F(QuatTest, basicfuns){
EXPECT_EQ(exp(qNull), qIdentity);
EXPECT_EQ(exp(Quatd(0, angle * unitAxis[0] / 2, angle * unitAxis[1] / 2, angle * unitAxis[2] / 2)), q3);
EXPECT_EQ(power(q3, 2), Quatd::createFromAngleAxis(2*angle, axis));
EXPECT_EQ(power(q3, 2.0), Quatd::createFromAngleAxis(2*angle, axis));
EXPECT_EQ(power(Quatd(0.5, 0.5, 0.5, 0.5), 2.0, assumeUnit), Quatd(-0.5,0.5,0.5,0.5));
EXPECT_EQ(power(Quatd(0.5, 0.5, 0.5, 0.5), -2.0), Quatd(-0.5,-0.5,-0.5,-0.5));
EXPECT_EQ(sqrt(q1), power(q1, 0.5));
@@ -160,7 +160,7 @@ TEST_F(QuatTest, basicfuns){
EXPECT_EQ(tan(atan(q1)), q1);
}
TEST_F(QuatTest, opeartor){
TEST_F(QuatTest, operator){
Quatd minusQ{-1, -2, -3, -4};
Quatd qAdd{3.5, 0, 6.5, 8};
Quatd qMinus{-1.5, 4, -0.5, 0};
@@ -171,7 +171,15 @@ TEST_F(QuatTest, opeartor){
EXPECT_EQ(-q1, minusQ);
EXPECT_EQ(q1 + q2, qAdd);
EXPECT_EQ(q1 + scalar, Quatd(3.5, 2, 3, 4));
EXPECT_EQ(scalar + q1, Quatd(3.5, 2, 3, 4));
EXPECT_EQ(q1 + 2.0, Quatd(3, 2, 3, 4));
EXPECT_EQ(2.0 + q1, Quatd(3, 2, 3, 4));
EXPECT_EQ(q1 - q2, qMinus);
EXPECT_EQ(q1 - scalar, Quatd(-1.5, 2, 3, 4));
EXPECT_EQ(scalar - q1, Quatd(1.5, -2, -3, -4));
EXPECT_EQ(q1 - 2.0, Quatd(-1, 2, 3, 4));
EXPECT_EQ(2.0 - q1, Quatd(1, -2, -3, -4));
EXPECT_EQ(q1 * q2, qMultq);
EXPECT_EQ(q1 * scalar, qMults);
EXPECT_EQ(scalar * q1, qMults);
@@ -252,4 +260,4 @@ TEST_F(QuatTest, interpolation){
} // namespace
}// opencv_test
}// opencv_test