Class QuaternionAssertions

Namespace

MathAssertions.TUnit

Assembly

MathAssertions.TUnit.dll

Fluent Quaternion assertions. Distinguishes component-wise equality (treats q and -q as different) from rotational equivalence (treats them as the same rotation, the SO(3) double-cover view).

public static class QuaternionAssertions

Inheritance

object

QuaternionAssertions

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Remarks

v0.2.0 enriches the failure messages for IsApproximatelyEqualTo(Quaternion, Quaternion, double) and IsRotationallyEquivalentTo(Quaternion, Quaternion, double) with per-component delta rendering via MathAssertions.MathFailureMessage. v0.2.0 also adds HasAxisAngleApproximately(Quaternion, Vector3, double, double) for axis-angle-form rotation assertions.

Methods

HasAxisAngleApproximately(Quaternion, Vector3, double, double)

Asserts the quaternion, viewed as a rotation in axis-angle form, lies within tolerance of the rotation expectedAngleDegrees degrees around expectedAxis. Handles the SO(3) double cover so a q / -q pair both compare equivalent to the same axis-angle pair. See HasAxisAngleApproximately(Quaternion, Vector3, double, double) for the full contract.

[GenerateAssertion(InlineMethodBody = true)]
public static AssertionResult HasAxisAngleApproximately(this Quaternion value, Vector3 expectedAxis, double expectedAngleDegrees, double tolerance)

Parameters

value Quaternion

expectedAxis Vector3

expectedAngleDegrees double

tolerance double

Returns

AssertionResult

IsApproximatelyEqualTo(Quaternion, Quaternion, double)

Component-wise tolerance comparison.

[GenerateAssertion(InlineMethodBody = true)]
public static AssertionResult IsApproximatelyEqualTo(this Quaternion value, Quaternion expected, double tolerance)

Parameters

value Quaternion

expected Quaternion

tolerance double

Returns

AssertionResult

IsIdentity(Quaternion, double)

Asserts the quaternion is the identity quaternion within tolerance.

[GenerateAssertion(ExpectationMessage = "to be the identity quaternion within tolerance {tolerance}", InlineMethodBody = true)]
public static bool IsIdentity(this Quaternion value, double tolerance)

Parameters

value Quaternion

tolerance double

Returns

bool

IsNormalized(Quaternion, double)

Asserts the quaternion has unit length within tolerance.

[GenerateAssertion(ExpectationMessage = "to be a unit quaternion within tolerance {tolerance}", InlineMethodBody = true)]
public static bool IsNormalized(this Quaternion value, double tolerance)

Parameters

value Quaternion

tolerance double

Returns

bool

IsRotationallyEquivalentTo(Quaternion, Quaternion, double)

Asserts the quaternion encodes the same rotation as expected within tolerance, treating q and -q as equivalent.

[GenerateAssertion(InlineMethodBody = true)]
public static AssertionResult IsRotationallyEquivalentTo(this Quaternion value, Quaternion expected, double tolerance)

Parameters

value Quaternion

expected Quaternion

tolerance double

Returns

AssertionResult