Class PoseAssertions

Namespace

MathAssertions.TUnit

Assembly

MathAssertions.TUnit.dll

Fluent pose / rigid-transform assertions. A pose is a position and an orientation together; these assertions compare the two halves with separate tolerances (position as a Euclidean distance in the caller's length unit, rotation as a geodesic angle in degrees) and report one combined diagnostic that names which half missed. A single shared tolerance would be wrong because the two quantities carry different units.

public static class PoseAssertions

Inheritance

object

PoseAssertions

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

The orientation comparison is on the SO(3) rotation metric, so a quaternion and its negation (q and -q) are treated as the same rotation. The Matrix4x4 overload decomposes each transform into its translation and rotation and compares those; scale is not part of a rigid transform and is ignored.

Methods

IsPoseApproximatelyEqualTo((Vector3 Position, Quaternion Orientation), (Vector3 Position, Quaternion Orientation), double, double)

Asserts that a (Position, Orientation) pose matches expected within a Euclidean positionTolerance and a geodesic rotationToleranceDegrees. On failure the message renders both poses and the measured position and rotation deltas, flagging which half exceeded its tolerance.

[GenerateAssertion(InlineMethodBody = true)]
public static AssertionResult IsPoseApproximatelyEqualTo(this (Vector3 Position, Quaternion Orientation) value, (Vector3 Position, Quaternion Orientation) expected, double positionTolerance, double rotationToleranceDegrees)

Parameters

value (Vector3 Position, Quaternion Orientation)

The actual pose, as a (Vector3 Position, Quaternion Orientation) tuple.

expected (Vector3 Position, Quaternion Orientation)

The expected pose.

positionTolerance double

Maximum allowed Euclidean distance between the positions. Non-negative, not NaN.

rotationToleranceDegrees double

Maximum allowed geodesic angle between the orientations, in degrees. Non-negative, not NaN.

Returns

AssertionResult

IsRigidTransformApproximatelyEqualTo(Matrix4x4, Matrix4x4, double, double)

Asserts that a rigid transform (a Matrix4x4) matches expected in its translation and rotation within separate tolerances. The translation is read from Translation and the rotation via CreateFromRotationMatrix(Matrix4x4); the overload assumes a rigid transform (orthonormal rotation, unit scale), which is the contract its name advertises.

[GenerateAssertion(InlineMethodBody = true)]
public static AssertionResult IsRigidTransformApproximatelyEqualTo(this Matrix4x4 value, Matrix4x4 expected, double positionTolerance, double rotationToleranceDegrees)

Parameters

value Matrix4x4

The actual rigid transform.

expected Matrix4x4

The expected rigid transform.

positionTolerance double

Maximum allowed Euclidean distance between the translations. Non-negative, not NaN.

rotationToleranceDegrees double

Maximum allowed geodesic angle between the rotations, in degrees. Non-negative, not NaN.

Returns

AssertionResult