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Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * **************************************************************************************************/ /*! \file \brief Unit tests for the CUTLASS Quaternion template class. */ #include "../common/cutlass_unit_test.h" #include "cutlass/cutlass.h" #include "cutlass/core_io.h" #include "cutlass/quaternion.h" #include "cutlass/numeric_conversion.h" #include "cutlass/constants.h" ///////////////////////////////////////////////////////////////////////////////////////////////// static float const half_pi = cutlass::constants::half_pi(); ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, add_f32) { cutlass::Quaternion q0(1, 1, 1, 1); cutlass::Quaternion q1(0, 0, 0, 2); cutlass::Quaternion q2 = q0 + q1; EXPECT_TRUE( q2.x() == 1 && q2.y() == 1 && q2.z() == 1 && q2.w() == 3 ); } ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, rotation) { cutlass::Matrix3x1 x(1.0f, 0.0f, 0.0f); cutlass::Quaternion q = cutlass::Quaternion::rotation(0, 0, 1, half_pi) * 2.0f; cutlass::Matrix3x1 v = q.rotate(x); float epsilon = 0.001f; EXPECT_TRUE( std::abs(v.at(0)) < epsilon && std::abs(v.at(1)) > (1 - epsilon) && std::abs(v.at(2)) < epsilon ); } ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, rotation_inv) { cutlass::Matrix3x1 x(1.0f, 0.0f, 0.0f); cutlass::Quaternion q = cutlass::Quaternion::rotation(0, 0, 1, half_pi) * 2.0f; cutlass::Matrix3x1 v = q.rotate(x); float epsilon = 0.001f; EXPECT_TRUE( std::abs(v.at(0)) < epsilon && std::abs(-v.at(1)) > (1 - epsilon) && std::abs(v.at(2)) < epsilon ); } ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, spinor_rotation) { cutlass::Matrix3x1 x(1.0f, 0.0f, 0.0f); cutlass::Quaternion q = cutlass::Quaternion::rotation(0, 0, 1, half_pi); cutlass::Matrix3x1 v = cutlass::spinor_rotation(q, x); float epsilon = 0.001f; EXPECT_TRUE( std::abs(v.at(0)) < epsilon && std::abs(v.at(1)) > (1 - epsilon) && std::abs(v.at(2)) < epsilon ); } ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, spinor_rotation_inv) { cutlass::Matrix3x1 x(1.0f, 0.0f, 0.0f); cutlass::Quaternion q = cutlass::Quaternion::rotation(0, 0, 1, half_pi); cutlass::Matrix3x1 v = cutlass::spinor_rotation_inv(q, x); float epsilon = 0.001f; EXPECT_TRUE( std::abs(v.at(0)) < epsilon && std::abs(-v.at(1)) > (1 - epsilon) && std::abs(v.at(2)) < epsilon ); } ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, as_rotation_matrix3x3) { cutlass::Matrix3x1 x(1.0f, 0.0f, 0.0f); cutlass::Quaternion q = cutlass::Quaternion::rotation(0, 0, 1, half_pi); cutlass::Matrix3x1 v = q.as_rotation_matrix_3x3().product(x); float epsilon = 0.001f; EXPECT_TRUE( std::abs(v.at(0)) < epsilon && std::abs(v.at(1)) > (1 - epsilon) && std::abs(v.at(2)) < epsilon ); } ///////////////////////////////////////////////////////////////////////////////////////////////// TEST(Quaternion, as_rotation_matrix4x4) { cutlass::Matrix4x1 x(1.0f, 0.0f, 0.0f, 1.0f); cutlass::Quaternion q = cutlass::Quaternion::rotation(0, 0, 1, half_pi); cutlass::Matrix4x1 v = q.as_rotation_matrix_4x4().product(x); float epsilon = 0.001f; EXPECT_TRUE( std::abs(v.at(0)) < epsilon && std::abs(v.at(1)) > (1 - epsilon) && std::abs(v.at(2)) < epsilon && std::abs(v.at(3)) > (1 - epsilon) ); } /////////////////////////////////////////////////////////////////////////////////////////////////