GCC Code Coverage Report

Directory:	./
File:	openvdb/openvdb/unittest/TestQuat.cc
Date:	2022-07-25 17:40:05

	Exec	Total	Coverage
Lines:	69	69	100.0%
Functions:	7	7	100.0%
Branches:	18	174	10.3%

  
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      // Copyright Contributors to the OpenVDB Project
    
      // SPDX-License-Identifier: MPL-2.0
    
      #include <openvdb/Exceptions.h>
    
      #include <openvdb/math/Math.h>
    
      #include <openvdb/math/Quat.h>
    
      #include <openvdb/math/Mat4.h>
    
      #include <gtest/gtest.h>
    
      using namespace openvdb::math;
    
      7
      class TestQuat: public ::testing::Test
    
      {
    
      };
    
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      1
      TEST_F(TestQuat, testConstructor)
    
      {
    
          {
    
              Quat<float> qq(1.23f, 2.34f, 3.45f, 4.56f);
    
              EXPECT_TRUE( isExactlyEqual(qq.x(), 1.23f) );
    
              EXPECT_TRUE( isExactlyEqual(qq.y(), 2.34f) );
    
              EXPECT_TRUE( isExactlyEqual(qq.z(), 3.45f) );
    
              EXPECT_TRUE( isExactlyEqual(qq.w(), 4.56f) );
    
          }
    
          {
    
              float a[] = { 1.23f, 2.34f, 3.45f, 4.56f };
    
              Quat<float> qq(a);
    
              EXPECT_TRUE( isExactlyEqual(qq.x(), 1.23f) );
    
              EXPECT_TRUE( isExactlyEqual(qq.y(), 2.34f) );
    
              EXPECT_TRUE( isExactlyEqual(qq.z(), 3.45f) );
    
              EXPECT_TRUE( isExactlyEqual(qq.w(), 4.56f) );
    
          }
    
      1
      }
    
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      2
      TEST_F(TestQuat, testAxisAngle)
    
      {
    
          float TOL = 1e-6f;
    
          Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
    
          Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
    
          Vec3s v(1, 2, 3);
    
      1
          v.normalize();
    
          float a = float(M_PI / 4.f);
    
      1
          Quat<float> q(v,a);
    
      1
          float b = q.angle();
    
      1
          Vec3s vv = q.axis();
    
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      1
          EXPECT_TRUE( isApproxEqual(a, b, TOL) );
    
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      1
          EXPECT_TRUE( v.eq(vv, TOL) );
    
      1
          q1.setAxisAngle(v,a);
    
      1
          b = q1.angle();
    
      1
          vv = q1.axis();
    
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      1
          EXPECT_TRUE( isApproxEqual(a, b, TOL) );
    
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      1
          EXPECT_TRUE( v.eq(vv, TOL) );
    
      1
      }
    
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      1
      TEST_F(TestQuat, testOpPlus)
    
      {
    
          Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
    
          Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
    
          Quat<float> q = q1 + q2;
    
          float
    
              x=q1.x()+q2.x(), y=q1.y()+q2.y(), z=q1.z()+q2.z(), w=q1.w()+q2.w();
    
          EXPECT_TRUE( isExactlyEqual(q.x(), x) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), y) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), z) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), w) );
    
          q = q1;
    
          q += q2;
    
          EXPECT_TRUE( isExactlyEqual(q.x(), x) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), y) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), z) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), w) );
    
          q.add(q1,q2);
    
          EXPECT_TRUE( isExactlyEqual(q.x(), x) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), y) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), z) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), w) );
    
      1
      }
    
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      1
      TEST_F(TestQuat, testOpMinus)
    
      {
    
          Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
    
          Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
    
          Quat<float> q = q1 - q2;
    
          float
    
              x=q1.x()-q2.x(), y=q1.y()-q2.y(), z=q1.z()-q2.z(), w=q1.w()-q2.w();
    
          EXPECT_TRUE( isExactlyEqual(q.x(), x) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), y) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), z) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), w) );
    
          q = q1;
    
          q -= q2;
    
          EXPECT_TRUE( isExactlyEqual(q.x(), x) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), y) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), z) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), w) );
    
          q.sub(q1,q2);
    
          EXPECT_TRUE( isExactlyEqual(q.x(), x) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), y) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), z) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), w) );
    
      1
      }
    
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      1
      TEST_F(TestQuat, testOpMultiply)
    
      {
    
          Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
    
          Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
    
          Quat<float> q = q1 * 1.5f;
    
          EXPECT_TRUE( isExactlyEqual(q.x(), float(1.5f)*q1.x()) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), float(1.5f)*q1.y()) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), float(1.5f)*q1.z()) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), float(1.5f)*q1.w()) );
    
          q = q1;
    
          q *= 1.5f;
    
          EXPECT_TRUE( isExactlyEqual(q.x(), float(1.5f)*q1.x()) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), float(1.5f)*q1.y()) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), float(1.5f)*q1.z()) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), float(1.5f)*q1.w()) );
    
          q.scale(1.5f, q1);
    
          EXPECT_TRUE( isExactlyEqual(q.x(), float(1.5f)*q1.x()) );
    
          EXPECT_TRUE( isExactlyEqual(q.y(), float(1.5f)*q1.y()) );
    
          EXPECT_TRUE( isExactlyEqual(q.z(), float(1.5f)*q1.z()) );
    
          EXPECT_TRUE( isExactlyEqual(q.w(), float(1.5f)*q1.w()) );
    
      1
      }
    
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      2
      TEST_F(TestQuat, testInvert)
    
      {
    
          float TOL = 1e-6f;
    
          Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
    
          Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
    
      1
          q1 = q2;
    
      1
          q2 = q2.inverse();
    
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      1
          Quat<float> q = q1*q2;
    
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      1
          EXPECT_TRUE( q.eq( Quat<float>(0,0,0,1), TOL ) );
    
      1
          q1.normalize();
    
      1
          q2 = q1.conjugate();
    
      1
          q = q1*q2;
    
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      1
          EXPECT_TRUE( q.eq( Quat<float>(0,0,0,1), TOL ) );
    
      1
      }
    
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      2
      TEST_F(TestQuat, testEulerAngles)
    
      {
    
          {
    
              double TOL = 1e-7;
    
              Mat4d rx, ry, rz;
    
              const double angle1 = 20. * M_PI / 180.;
    
              const double angle2 = 64. * M_PI / 180.;
    
              const double angle3 = 125. *M_PI / 180.;
    
      1
              rx.setToRotation(Vec3d(1,0,0), angle1);
    
      1
              ry.setToRotation(Vec3d(0,1,0), angle2);
    
      1
              rz.setToRotation(Vec3d(0,0,1), angle3);
    
      1
              Mat4d r = rx * ry * rz;
    
      1
              const Quat<double> rot(r.getMat3());
    
      1
              Vec3d result = rot.eulerAngles(ZYX_ROTATION);
    
      1
              rx.setToRotation(Vec3d(1,0,0), result[0]);
    
      1
              ry.setToRotation(Vec3d(0,1,0), result[1]);
    
      1
              rz.setToRotation(Vec3d(0,0,1), result[2]);
    
      1
              Mat4d rtest = rx * ry * rz;
    
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      1
              EXPECT_TRUE(r.eq(rtest, TOL));
    
          }
    
          {
    
              double TOL = 1e-7;
    
              Mat4d rx, ry, rz;
    
              const double angle1 = 20. * M_PI / 180.;
    
              const double angle2 = 64. * M_PI / 180.;
    
              const double angle3 = 125. *M_PI / 180.;
    
      1
              rx.setToRotation(Vec3d(1,0,0), angle1);
    
      1
              ry.setToRotation(Vec3d(0,1,0), angle2);
    
      1
              rz.setToRotation(Vec3d(0,0,1), angle3);
    
      1
              Mat4d r = rz * ry * rx;
    
      1
              const Quat<double> rot(r.getMat3());
    
      1
              Vec3d result = rot.eulerAngles(XYZ_ROTATION);
    
      1
              rx.setToRotation(Vec3d(1,0,0), result[0]);
    
      1
              ry.setToRotation(Vec3d(0,1,0), result[1]);
    
      1
              rz.setToRotation(Vec3d(0,0,1), result[2]);
    
      1
              Mat4d rtest = rz * ry * rx;
    
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      1
              EXPECT_TRUE(r.eq(rtest, TOL));
    
          }
    
          {
    
              double TOL = 1e-7;
    
              Mat4d rx, ry, rz;
    
              const double angle1 = 20. * M_PI / 180.;
    
              const double angle2 = 64. * M_PI / 180.;
    
              const double angle3 = 125. *M_PI / 180.;
    
      1
              rx.setToRotation(Vec3d(1,0,0), angle1);
    
      1
              ry.setToRotation(Vec3d(0,1,0), angle2);
    
      1
              rz.setToRotation(Vec3d(0,0,1), angle3);
    
      1
              Mat4d r = rz * rx * ry;
    
      1
              const Quat<double> rot(r.getMat3());
    
      1
              Vec3d result = rot.eulerAngles(YXZ_ROTATION);
    
      1
              rx.setToRotation(Vec3d(1,0,0), result[0]);
    
      1
              ry.setToRotation(Vec3d(0,1,0), result[1]);
    
      1
              rz.setToRotation(Vec3d(0,0,1), result[2]);
    
      1
              Mat4d rtest = rz * rx * ry;
    
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      1
              EXPECT_TRUE(r.eq(rtest, TOL));
    
          }
    
          {
    
              const Quat<float> rot(X_AXIS, 1.0);
    
      1
              Vec3s result = rot.eulerAngles(XZY_ROTATION);
    
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      1
              EXPECT_EQ(result, Vec3s(1,0,0));
    
          }
    
      1
      }

Line	Branch	Exec	Source
1			// Copyright Contributors to the OpenVDB Project
2			// SPDX-License-Identifier: MPL-2.0
3
4			#include <openvdb/Exceptions.h>
5			#include <openvdb/math/Math.h>
6			#include <openvdb/math/Quat.h>
7			#include <openvdb/math/Mat4.h>
8
9			#include <gtest/gtest.h>
10
11
12			using namespace openvdb::math;
13
14		7	class TestQuat: public ::testing::Test
15			{
16			};
17
18
19	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	TEST_F(TestQuat, testConstructor)
20			{
21			{
22			Quat<float> qq(1.23f, 2.34f, 3.45f, 4.56f);
23			EXPECT_TRUE( isExactlyEqual(qq.x(), 1.23f) );
24			EXPECT_TRUE( isExactlyEqual(qq.y(), 2.34f) );
25			EXPECT_TRUE( isExactlyEqual(qq.z(), 3.45f) );
26			EXPECT_TRUE( isExactlyEqual(qq.w(), 4.56f) );
27			}
28
29			{
30			float a[] = { 1.23f, 2.34f, 3.45f, 4.56f };
31			Quat<float> qq(a);
32			EXPECT_TRUE( isExactlyEqual(qq.x(), 1.23f) );
33			EXPECT_TRUE( isExactlyEqual(qq.y(), 2.34f) );
34			EXPECT_TRUE( isExactlyEqual(qq.z(), 3.45f) );
35			EXPECT_TRUE( isExactlyEqual(qq.w(), 4.56f) );
36			}
37		1	}
38
39
40	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TEST_F(TestQuat, testAxisAngle)
41			{
42			float TOL = 1e-6f;
43
44			Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
45			Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
46
47			Vec3s v(1, 2, 3);
48		1	v.normalize();
49			float a = float(M_PI / 4.f);
50
51		1	Quat<float> q(v,a);
52		1	float b = q.angle();
53		1	Vec3s vv = q.axis();
54
55	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE( isApproxEqual(a, b, TOL) );
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57
58		1	q1.setAxisAngle(v,a);
59		1	b = q1.angle();
60		1	vv = q1.axis();
61	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE( isApproxEqual(a, b, TOL) );
62	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE( v.eq(vv, TOL) );
63		1	}
64
65
66	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	TEST_F(TestQuat, testOpPlus)
67			{
68			Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
69			Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
70
71			Quat<float> q = q1 + q2;
72
73			float
74			x=q1.x()+q2.x(), y=q1.y()+q2.y(), z=q1.z()+q2.z(), w=q1.w()+q2.w();
75			EXPECT_TRUE( isExactlyEqual(q.x(), x) );
76			EXPECT_TRUE( isExactlyEqual(q.y(), y) );
77			EXPECT_TRUE( isExactlyEqual(q.z(), z) );
78			EXPECT_TRUE( isExactlyEqual(q.w(), w) );
79
80			q = q1;
81			q += q2;
82			EXPECT_TRUE( isExactlyEqual(q.x(), x) );
83			EXPECT_TRUE( isExactlyEqual(q.y(), y) );
84			EXPECT_TRUE( isExactlyEqual(q.z(), z) );
85			EXPECT_TRUE( isExactlyEqual(q.w(), w) );
86
87			q.add(q1,q2);
88			EXPECT_TRUE( isExactlyEqual(q.x(), x) );
89			EXPECT_TRUE( isExactlyEqual(q.y(), y) );
90			EXPECT_TRUE( isExactlyEqual(q.z(), z) );
91			EXPECT_TRUE( isExactlyEqual(q.w(), w) );
92		1	}
93
94
95	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	TEST_F(TestQuat, testOpMinus)
96			{
97			Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
98			Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
99
100			Quat<float> q = q1 - q2;
101
102			float
103			x=q1.x()-q2.x(), y=q1.y()-q2.y(), z=q1.z()-q2.z(), w=q1.w()-q2.w();
104			EXPECT_TRUE( isExactlyEqual(q.x(), x) );
105			EXPECT_TRUE( isExactlyEqual(q.y(), y) );
106			EXPECT_TRUE( isExactlyEqual(q.z(), z) );
107			EXPECT_TRUE( isExactlyEqual(q.w(), w) );
108
109			q = q1;
110			q -= q2;
111			EXPECT_TRUE( isExactlyEqual(q.x(), x) );
112			EXPECT_TRUE( isExactlyEqual(q.y(), y) );
113			EXPECT_TRUE( isExactlyEqual(q.z(), z) );
114			EXPECT_TRUE( isExactlyEqual(q.w(), w) );
115
116			q.sub(q1,q2);
117			EXPECT_TRUE( isExactlyEqual(q.x(), x) );
118			EXPECT_TRUE( isExactlyEqual(q.y(), y) );
119			EXPECT_TRUE( isExactlyEqual(q.z(), z) );
120			EXPECT_TRUE( isExactlyEqual(q.w(), w) );
121		1	}
122
123
124	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	1	TEST_F(TestQuat, testOpMultiply)
125			{
126			Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
127			Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
128
129			Quat<float> q = q1 * 1.5f;
130
131			EXPECT_TRUE( isExactlyEqual(q.x(), float(1.5f)*q1.x()) );
132			EXPECT_TRUE( isExactlyEqual(q.y(), float(1.5f)*q1.y()) );
133			EXPECT_TRUE( isExactlyEqual(q.z(), float(1.5f)*q1.z()) );
134			EXPECT_TRUE( isExactlyEqual(q.w(), float(1.5f)*q1.w()) );
135
136			q = q1;
137			q *= 1.5f;
138			EXPECT_TRUE( isExactlyEqual(q.x(), float(1.5f)*q1.x()) );
139			EXPECT_TRUE( isExactlyEqual(q.y(), float(1.5f)*q1.y()) );
140			EXPECT_TRUE( isExactlyEqual(q.z(), float(1.5f)*q1.z()) );
141			EXPECT_TRUE( isExactlyEqual(q.w(), float(1.5f)*q1.w()) );
142
143			q.scale(1.5f, q1);
144			EXPECT_TRUE( isExactlyEqual(q.x(), float(1.5f)*q1.x()) );
145			EXPECT_TRUE( isExactlyEqual(q.y(), float(1.5f)*q1.y()) );
146			EXPECT_TRUE( isExactlyEqual(q.z(), float(1.5f)*q1.z()) );
147			EXPECT_TRUE( isExactlyEqual(q.w(), float(1.5f)*q1.w()) );
148		1	}
149
150
151	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TEST_F(TestQuat, testInvert)
152			{
153			float TOL = 1e-6f;
154
155			Quat<float> q1(1.0f, 2.0f, 3.0f, 4.0f);
156			Quat<float> q2(1.2f, 2.3f, 3.4f, 4.5f);
157
158
159		1	q1 = q2;
160		1	q2 = q2.inverse();
161
162	1/2 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times.	1	Quat<float> q = q1*q2;
163
164	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE( q.eq( Quat<float>(0,0,0,1), TOL ) );
165
166		1	q1.normalize();
167		1	q2 = q1.conjugate();
168		1	q = q1*q2;
169	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE( q.eq( Quat<float>(0,0,0,1), TOL ) );
170		1	}
171
172
173	1/2 ✓ Branch 1 taken 1 times. ✗ Branch 2 not taken.	2	TEST_F(TestQuat, testEulerAngles)
174			{
175
176			{
177			double TOL = 1e-7;
178
179			Mat4d rx, ry, rz;
180			const double angle1 = 20. * M_PI / 180.;
181			const double angle2 = 64. * M_PI / 180.;
182			const double angle3 = 125. *M_PI / 180.;
183		1	rx.setToRotation(Vec3d(1,0,0), angle1);
184		1	ry.setToRotation(Vec3d(0,1,0), angle2);
185		1	rz.setToRotation(Vec3d(0,0,1), angle3);
186
187		1	Mat4d r = rx * ry * rz;
188
189		1	const Quat<double> rot(r.getMat3());
190		1	Vec3d result = rot.eulerAngles(ZYX_ROTATION);
191
192		1	rx.setToRotation(Vec3d(1,0,0), result[0]);
193		1	ry.setToRotation(Vec3d(0,1,0), result[1]);
194		1	rz.setToRotation(Vec3d(0,0,1), result[2]);
195
196		1	Mat4d rtest = rx * ry * rz;
197
198	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE(r.eq(rtest, TOL));
199			}
200
201			{
202			double TOL = 1e-7;
203
204			Mat4d rx, ry, rz;
205			const double angle1 = 20. * M_PI / 180.;
206			const double angle2 = 64. * M_PI / 180.;
207			const double angle3 = 125. *M_PI / 180.;
208		1	rx.setToRotation(Vec3d(1,0,0), angle1);
209		1	ry.setToRotation(Vec3d(0,1,0), angle2);
210		1	rz.setToRotation(Vec3d(0,0,1), angle3);
211
212		1	Mat4d r = rz * ry * rx;
213
214		1	const Quat<double> rot(r.getMat3());
215		1	Vec3d result = rot.eulerAngles(XYZ_ROTATION);
216
217		1	rx.setToRotation(Vec3d(1,0,0), result[0]);
218		1	ry.setToRotation(Vec3d(0,1,0), result[1]);
219		1	rz.setToRotation(Vec3d(0,0,1), result[2]);
220
221		1	Mat4d rtest = rz * ry * rx;
222
223	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE(r.eq(rtest, TOL));
224			}
225
226			{
227			double TOL = 1e-7;
228
229			Mat4d rx, ry, rz;
230			const double angle1 = 20. * M_PI / 180.;
231			const double angle2 = 64. * M_PI / 180.;
232			const double angle3 = 125. *M_PI / 180.;
233		1	rx.setToRotation(Vec3d(1,0,0), angle1);
234		1	ry.setToRotation(Vec3d(0,1,0), angle2);
235		1	rz.setToRotation(Vec3d(0,0,1), angle3);
236
237		1	Mat4d r = rz * rx * ry;
238
239		1	const Quat<double> rot(r.getMat3());
240		1	Vec3d result = rot.eulerAngles(YXZ_ROTATION);
241
242		1	rx.setToRotation(Vec3d(1,0,0), result[0]);
243		1	ry.setToRotation(Vec3d(0,1,0), result[1]);
244		1	rz.setToRotation(Vec3d(0,0,1), result[2]);
245
246		1	Mat4d rtest = rz * rx * ry;
247
248	1/16 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 20 not taken. ✗ Branch 21 not taken. ✗ Branch 22 not taken. ✗ Branch 23 not taken.	1	EXPECT_TRUE(r.eq(rtest, TOL));
249			}
250
251			{
252			const Quat<float> rot(X_AXIS, 1.0);
253		1	Vec3s result = rot.eulerAngles(XZY_ROTATION);
254	1/14 ✗ Branch 0 not taken. ✓ Branch 1 taken 1 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken. ✗ Branch 9 not taken. ✗ Branch 10 not taken. ✗ Branch 12 not taken. ✗ Branch 13 not taken. ✗ Branch 15 not taken. ✗ Branch 16 not taken. ✗ Branch 17 not taken. ✗ Branch 18 not taken.	1	EXPECT_EQ(result, Vec3s(1,0,0));
255			}
256
257		1	}
258