composed.cc

// Copyright (C) 2007, 2008, 2009 EPITA Research and Development Laboratory (LRDE)
//
// This file is part of Olena.
//
// Olena is free software: you can redistribute it and/or modify it under
// the terms of the GNU General Public License as published by the Free
// Software Foundation, version 2 of the License.
//
// Olena is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with Olena.  If not, see <http://www.gnu.org/licenses/>.
//
// As a special exception, you may use this file as part of a free
// software project without restriction.  Specifically, if other files
// instantiate templates or use macros or inline functions from this
// file, or you compile this file and link it with other files to produce
// an executable, this file does not by itself cause the resulting
// executable to be covered by the GNU General Public License.  This
// exception does not however invalidate any other reasons why the
// executable file might be covered by the GNU General Public License.

#include <iostream>
#include <mln/fun/x2x/translation.hh>
#include <mln/fun/x2x/rotation.hh>
#include <mln/fun/x2x/composed.hh>
#include <mln/fun/i2v/all_to.hh>



int main()
{
  using namespace mln;

  float
    a = 2.3,
    b = 0,
    c = 2.9;

  algebra::vec<3,float> vec1 = make::vec(a, b, c);
  fun::x2x::translation<3,float> tr(all_to(1.6));
  algebra::vec<3,float> axis;
  axis[0] = 0;
  axis[1] = 1;
  axis[0] = 0;
  fun::x2x::rotation<3,float> rot(0.3, axis);

  std::cout << "vec : " << vec1 << std::endl;
  std::cout << "tr(vec) : " << tr(vec1) << std::endl;
  std::cout << "rot(vec) : " << rot(vec1) << std::endl;
  std::cout << "tr(rot(vec)) : " << compose(tr, rot)(vec1) << std::endl;
  std::cout << "rot(rot_1(vec)) : " << compose(rot, rot.inv())(vec1)
            << std::endl;
  std::cout << "tr(rot(tr(vec))) : " << compose(tr, compose(rot, tr))(vec1)
            << std::endl;
  std::cout << "(rototr_1)(rot(tr(vec)))) : "
            << compose(compose(rot, tr).inv(), compose(rot, tr))(vec1)
            << std::endl;
  mln_assertion(fabs(compose(rot, tr)(vec1)[0] - rot(tr(vec1))[0]) <= 0.125);
  mln_assertion(fabs(compose(rot, tr)(vec1)[1] - rot(tr(vec1))[1]) <= 0.125);
  mln_assertion(fabs(compose(rot, tr)(vec1)[2] - rot(tr(vec1))[2]) <= 0.125);
}

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