Add a float-vector representation to Pose3f
Bug: 188502620
Test: atest --host libheatracking-test
Change-Id: I7e84b08419e9a11920eca5e0aa1fde03e3729f68
diff --git a/media/libheadtracking/Pose-test.cpp b/media/libheadtracking/Pose-test.cpp
index 3ff6a9b..a9e18ce 100644
--- a/media/libheadtracking/Pose-test.cpp
+++ b/media/libheadtracking/Pose-test.cpp
@@ -110,6 +110,29 @@
EXPECT_TRUE(std::get<1>(result));
}
+TEST(Pose, FloatVectorRoundTrip1) {
+ // Rotation vector magnitude must be less than Pi.
+ std::vector<float> vec = { 1, 2, 3, 0.4, 0.5, 0.6};
+ std::optional<Pose3f> pose = Pose3f::fromVector(vec);
+ ASSERT_TRUE(pose.has_value());
+ std::vector<float> reconstructed = pose->toVector();
+ EXPECT_EQ(vec, reconstructed);
+}
+
+TEST(Pose, FloatVectorRoundTrip2) {
+ Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom());
+ std::vector<float> vec = pose.toVector();
+ std::optional<Pose3f> reconstructed = Pose3f::fromVector(vec);
+ ASSERT_TRUE(reconstructed.has_value());
+ EXPECT_EQ(pose, reconstructed.value());
+}
+
+TEST(Pose, FloatVectorInvalid) {
+ EXPECT_FALSE(Pose3f::fromVector({}).has_value());
+ EXPECT_FALSE(Pose3f::fromVector({1, 2, 3, 4, 5}).has_value());
+ EXPECT_FALSE(Pose3f::fromVector({1, 2, 3, 4, 5, 6, 7}).has_value());
+}
+
} // namespace
} // namespace media
} // namespace android