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Improve unit testing for adjusted trackers, not properly tests reference yaw != 0

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Eiren Rain
2021-07-21 18:13:00 +03:00
parent c8ba9d62aa
commit fb9860d51d
1 changed files with 35 additions and 19 deletions
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54
src/test/java/io/eiren/unit/ReferenceAdjustmentsFullTests.java
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@@ -149,12 +149,13 @@ public class ReferenceAdjustmentsFullTests {
targetTrackerRotation.fromAngles(0, angles[1], 0);
assertEquals("Adjusted quat is not equal to reference quat (" + toDegs(targetTrackerRotation) + " vs " + toDegs(read) + ")", new QuatEqualFullWithEpsilon(targetTrackerRotation), new QuatEqualFullWithEpsilon(read));
if(refYaw == 0)
testAdjustedTracker(tracker, adj, name, refYaw);
testAdjustedTracker(tracker, adj, name, refYaw);
}
//private static int errors = 0;
//private static int successes = 0;
private static final boolean PRINT_TEST_RESULTS = false;
private static int errors = 0;
private static int successes = 0;
private void testAdjustedTracker(ComputedTracker tracker, ReferenceAdjustedTracker<ComputedTracker> adj, String name, int refYaw) {
if(!testedTrackerNames.add(name))
@@ -164,6 +165,7 @@ public class ReferenceAdjustmentsFullTests {
trackerBase.set(tracker.rotation);
Quaternion rotation = new Quaternion();
Quaternion rotationCompare = new Quaternion();
Quaternion read = new Quaternion();
Quaternion diff = new Quaternion();
float[] angles = new float[3];
@@ -176,10 +178,11 @@ public class ReferenceAdjustmentsFullTests {
trackerNode.localTransform.setRotation(trackerBase);
for(int yaw = 0; yaw <= 360; yaw += 90) {
for(int pitch = -90; pitch <= 90; pitch += 30) {
for(int roll = -90; roll <= 90; roll += 30) {
rotation.fromAngles(pitch, yaw, roll);
for(int yaw = 0; yaw <= 360; yaw += 30) {
for(int pitch = -90; pitch <= 90; pitch += 15) {
for(int roll = -90; roll <= 90; roll += 15) {
rotation.fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
rotationCompare.fromAngles(pitch * FastMath.DEG_TO_RAD, (yaw + refYaw) * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
rotationNode.localTransform.setRotation(rotation);
trackerNode.update();
rotationNode.update();
@@ -189,21 +192,34 @@ public class ReferenceAdjustmentsFullTests {
adj.getRotation(read);
read.toAngles(anglesAdj);
diff.set(read).inverseLocal().multLocal(rotation);
diff.set(read).inverseLocal().multLocal(rotationCompare);
diff.toAngles(anglesDiff);
assertTrue(name + ". Rot: " + yaw + "/" + pitch + ". "
+ "Angles: " + StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[0] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[1] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[2] * FastMath.RAD_TO_DEG, 1) + ". Diff: "
+ StringUtils.prettyNumber(anglesDiff[0] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(anglesDiff[1] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(anglesDiff[2] * FastMath.RAD_TO_DEG, 1),
FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]));
if(!PRINT_TEST_RESULTS) {
assertTrue(name(name, yaw, pitch, roll, angles, anglesAdj, anglesDiff),
FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]));
} else {
if(FloatMath.equalsToZero(anglesDiff[0]) && FloatMath.equalsToZero(anglesDiff[1]) && FloatMath.equalsToZero(anglesDiff[2]))
successes++;
else
errors++;
System.out.println(name(name, yaw, pitch, roll, angles, anglesAdj, anglesDiff));
}
}
}
}
//System.out.println("Errors: " + errors + ", successes: " + successes);
if(PRINT_TEST_RESULTS)
System.out.println("Errors: " + errors + ", successes: " + successes);
}
private static String name(String name, int yaw, int pitch, int roll, float[] angles, float[] anglesAdj, float[] anglesDiff) {
return name + ". Rot: " + yaw + "/" + pitch + ". "
+ "Angles: " + StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[0] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[1] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 1) + "/" + StringUtils.prettyNumber(anglesAdj[2] * FastMath.RAD_TO_DEG, 1) + ". Diff: "
+ StringUtils.prettyNumber(anglesDiff[0] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(anglesDiff[1] * FastMath.RAD_TO_DEG, 1) + ", "
+ StringUtils.prettyNumber(anglesDiff[2] * FastMath.RAD_TO_DEG, 1);
}
public static String toDegs(Quaternion q) {