163 lines
5.6 KiB
Plaintext
163 lines
5.6 KiB
Plaintext
/***************************************************************************************************
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* Copyright (c) 2017-2021, NVIDIA CORPORATION. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification, are permitted
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* provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice, this list of
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* conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other materials
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* provided with the distribution.
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* * Neither the name of the NVIDIA CORPORATION nor the names of its contributors may be used
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* to endorse or promote products derived from this software without specific prior written
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* permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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* FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL NVIDIA CORPORATION BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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**************************************************************************************************/
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/*! \file
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\brief Unit tests for the CUTLASS Quaternion template class.
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*/
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#include "../common/cutlass_unit_test.h"
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#include "cutlass/cutlass.h"
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#include "cutlass/core_io.h"
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#include "cutlass/quaternion.h"
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#include "cutlass/numeric_conversion.h"
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#include "cutlass/constants.h"
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/////////////////////////////////////////////////////////////////////////////////////////////////
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static float const half_pi = cutlass::constants::half_pi<float>();
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, add_f32) {
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cutlass::Quaternion<float> q0(1, 1, 1, 1);
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cutlass::Quaternion<float> q1(0, 0, 0, 2);
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cutlass::Quaternion<float> q2 = q0 + q1;
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EXPECT_TRUE(
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q2.x() == 1 &&
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q2.y() == 1 &&
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q2.z() == 1 &&
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q2.w() == 3
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, rotation) {
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cutlass::Matrix3x1<float> x(1.0f, 0.0f, 0.0f);
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cutlass::Quaternion<float> q = cutlass::Quaternion<float>::rotation(0, 0, 1, half_pi) * 2.0f;
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cutlass::Matrix3x1<float> v = q.rotate(x);
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float epsilon = 0.001f;
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EXPECT_TRUE(
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std::abs(v.at(0)) < epsilon &&
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std::abs(v.at(1)) > (1 - epsilon) &&
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std::abs(v.at(2)) < epsilon
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, rotation_inv) {
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cutlass::Matrix3x1<float> x(1.0f, 0.0f, 0.0f);
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cutlass::Quaternion<float> q = cutlass::Quaternion<float>::rotation(0, 0, 1, half_pi) * 2.0f;
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cutlass::Matrix3x1<float> v = q.rotate(x);
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float epsilon = 0.001f;
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EXPECT_TRUE(
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std::abs(v.at(0)) < epsilon &&
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std::abs(-v.at(1)) > (1 - epsilon) &&
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std::abs(v.at(2)) < epsilon
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, spinor_rotation) {
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cutlass::Matrix3x1<float> x(1.0f, 0.0f, 0.0f);
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cutlass::Quaternion<float> q = cutlass::Quaternion<float>::rotation(0, 0, 1, half_pi);
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cutlass::Matrix3x1<float> v = cutlass::spinor_rotation(q, x);
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float epsilon = 0.001f;
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EXPECT_TRUE(
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std::abs(v.at(0)) < epsilon &&
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std::abs(v.at(1)) > (1 - epsilon) &&
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std::abs(v.at(2)) < epsilon
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, spinor_rotation_inv) {
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cutlass::Matrix3x1<float> x(1.0f, 0.0f, 0.0f);
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cutlass::Quaternion<float> q = cutlass::Quaternion<float>::rotation(0, 0, 1, half_pi);
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cutlass::Matrix3x1<float> v = cutlass::spinor_rotation_inv(q, x);
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float epsilon = 0.001f;
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EXPECT_TRUE(
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std::abs(v.at(0)) < epsilon &&
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std::abs(-v.at(1)) > (1 - epsilon) &&
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std::abs(v.at(2)) < epsilon
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, as_rotation_matrix3x3) {
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cutlass::Matrix3x1<float> x(1.0f, 0.0f, 0.0f);
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cutlass::Quaternion<float> q = cutlass::Quaternion<float>::rotation(0, 0, 1, half_pi);
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cutlass::Matrix3x1<float> v = q.as_rotation_matrix_3x3().product(x);
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float epsilon = 0.001f;
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EXPECT_TRUE(
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std::abs(v.at(0)) < epsilon &&
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std::abs(v.at(1)) > (1 - epsilon) &&
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std::abs(v.at(2)) < epsilon
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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TEST(Quaternion, as_rotation_matrix4x4) {
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cutlass::Matrix4x1<float> x(1.0f, 0.0f, 0.0f, 1.0f);
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cutlass::Quaternion<float> q = cutlass::Quaternion<float>::rotation(0, 0, 1, half_pi);
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cutlass::Matrix4x1<float> v = q.as_rotation_matrix_4x4().product(x);
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float epsilon = 0.001f;
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EXPECT_TRUE(
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std::abs(v.at(0)) < epsilon &&
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std::abs(v.at(1)) > (1 - epsilon) &&
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std::abs(v.at(2)) < epsilon &&
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std::abs(v.at(3)) > (1 - epsilon)
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);
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}
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/////////////////////////////////////////////////////////////////////////////////////////////////
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