Class PoseRenderer

Namespace

MathAssertions.Render

Assembly

MathAssertions.dll

Pure renderer that converts a 3D pose — a Vector3 position and / or a Quaternion orientation — into deterministic, snapshot-friendly text. Position renders as pos: (x, y, z) tol=t and orientation as quat: (x, y, z, w) tol=t, each on its own LF-terminated line; the full-pose overload emits both.

public static class PoseRenderer

Inheritance

object

PoseRenderer

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

Pairs naturally with snapshot assertions. Render the pose once, then pin the result against a baseline:

var rendered = PoseRenderer.Render(position, orientation, tolerance: 1e-4);
await Assert.That(rendered).MatchesSnapshot();

The MatchesSnapshot() extension above lives in the sibling SnapshotAssertions.TUnit package; this package does not depend on it. The two-line composition is deliberate: it lets consumers reach for the renderer without committing to a specific snapshot framework, and lets the SnapshotAssertions package stay an opt-in pairing rather than a transitive dependency.

Orientation is rendered verbatim — the sign is not canonicalized. A quaternion and its negation (q and -q) represent the same rotation but render differently. That is intentional: pinning the raw components means a regression that flips a quaternion sign surfaces as a snapshot diff. Callers asserting rotational equivalence rather than component identity should use the IsRotationallyEquivalentTo assertion instead of a rendered snapshot.

The tolerance is recorded, not applied. The renderer performs no comparison; it echoes the supplied tolerance into the output so the snapshot baseline records the asserted precision. A tolerance silently loosened during a refactor then surfaces as a snapshot diff.

Deterministic formatting. Components use the invariant-culture F6 fixed format — six fractional digits, enough to distinguish typical calibration / pose outputs without recording floating-point noise that would make the snapshot fragile across platforms. The tolerance uses the invariant-culture G general format. Lines are terminated with the literal LF byte ('\n'), never NewLine, so a snapshot committed on one OS stays byte-stable for test runs on every other.

Methods

Render(Quaternion, double)

Renders an orientation alone as a single quat: line.

public static string Render(Quaternion orientation, double tolerance)

Parameters

orientation Quaternion

The pose rotation, rendered verbatim (sign not canonicalized).

tolerance double

The asserted tolerance, echoed into the line.

Returns

string

A deterministic single-line, LF-terminated text rendering of the orientation.

Render(Vector3, double)

Renders a position alone as a single pos: line.

public static string Render(Vector3 position, double tolerance)

Parameters

position Vector3

The pose translation (typically metres).

tolerance double

The asserted tolerance, echoed into the line.

Returns

string

A deterministic single-line, LF-terminated text rendering of the position.

Render(Vector3, Quaternion, double)

Renders a position and orientation pair as a two-line pose snapshot: a pos: line followed by a quat: line.

public static string Render(Vector3 position, Quaternion orientation, double tolerance)

Parameters

position Vector3

The pose translation (typically metres).

orientation Quaternion

The pose rotation, rendered verbatim (sign not canonicalized).

tolerance double

The asserted tolerance, echoed into both lines.

Returns

string

A deterministic two-line, LF-terminated text rendering of the pose.