89 lines
2.6 KiB
C++
89 lines
2.6 KiB
C++
#ifndef TESTPOLARDECOMPOSITION_H
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#define TESTPOLARDECOMPOSITION_H
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#include <cppunit/TestFixture.h>
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#include <cppunit/extensions/HelperMacros.h>
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#include <LinearMath/btMatrix3x3.h>
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class TestPolarDecomposition : public CppUnit::TestFixture
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{
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public:
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void setUp()
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{
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I.setIdentity();
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}
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void tearDown()
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{
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}
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void testPoorlyConditionedMatrix();
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void testSingularMatrix();
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void testNonSingularMatrix();
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void testIdentityMatrix();
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void testZeroMatrix();
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CPPUNIT_TEST_SUITE(TestPolarDecomposition);
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CPPUNIT_TEST(testZeroMatrix);
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CPPUNIT_TEST(testSingularMatrix);
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CPPUNIT_TEST(testPoorlyConditionedMatrix);
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CPPUNIT_TEST(testIdentityMatrix);
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CPPUNIT_TEST(testNonSingularMatrix);
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CPPUNIT_TEST_SUITE_END();
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private:
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/**
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* Returns TRUE if the specified matrix is orthogonal and FALSE otherwise.
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* Orthogonality is checked by pre-multiplying the matrix by its transpose
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* and comparing the result to the identity matrix.
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*
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* @param A - the matrix that is being tested
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*
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* @return a boolean indicating whether the specified matrix is orthogonal.
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*/
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bool isOrthogonal(const btMatrix3x3& A) const;
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/**
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* Returns TRUE if the specified matrix is symmetric and FALSE otherwise.
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* The symmetry of the matrix is determined by simplying testing the
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* equality of the three off-diagonal elements.
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*
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* @param A - the matrix that is being tested.
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*
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* @return a boolean indicating whether the specified matrix is symmetric.
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*/
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bool isSymmetric(const btMatrix3x3& A) const;
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/**
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* Returns TRUE if the specified matrix is positive definite and FALSE
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* otherwise. The positive definiteness of the matrix is determined by
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* calculating the Cholesky decomposition of the matrix; If the Cholesky
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* decomposition exists, the original matrix is positive definite.
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*
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* @param A - the matrix that is being tested.
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*
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* @return a boolean indicating whether the specified matrix is positive
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* definite.
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*/
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bool isPositiveDefinite(const btMatrix3x3& A) const;
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/**
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* Returns TRUE if the specified matrices are equal and FALSE otherwise.
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*
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* @param A - the first matrix to be tested.
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* @param B - the second matrix to be tested.
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*
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* @return a boolean indicating whether the specified matrix is symmetric.
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*/
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bool equal(const btMatrix3x3& A, const btMatrix3x3& B) const;
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private:
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btMatrix3x3 U;
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btMatrix3x3 H;
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btMatrix3x3 I;
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};
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#endif // TESTPOLARDECOMPOSITION_H
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