improve coverage

Author: petercorke

unit_test/PlotTest.m

@@ -104,13 +104,22 @@ function trplot2_test(tc)
     clf
     h = trplot2(Rt1);
     trplot2(Rt1, 'handle', h);
+    h = trplot2(Rt1, 'handle', h);
     trplot2(Rt1, 'color', 'r');
     trplot2(Rt1, 'color', [1 0 1]);
     trplot2(Rt1, 'noaxes');
     trplot2(Rt1, 'frame', 'bob');
     trplot2(Rt1, 'frame', 'A', 'text_opts', {'FontSize', 10, 'FontWeight', 'bold'})
     trplot2(Rt1, 'view', [10 20]);
     trplot2(Rt1, 'arrow')
+    trplot2(Rt1, 'framelabel', 'A')
+    
+    clf
+    a = gca;
+    trplot2(Rt1, 'axhandle', a);
+ 
+    h = trplot2(Rt1);
+    tc.verifyWarning( @() trplot2(h, Rt1), 'RTB:trplot2:deprecated')
 end
 
 %    plot2                      - plot trajectory

unit_test/QuaternionTest.m

@@ -172,7 +172,8 @@ function multiply_test(tc)
     tc.verifyError( @() q1 * [1 2 3], 'RTB:Quaternion:badarg')
     tc.verifyError( @() [1 2 3]*q1, 'RTB:Quaternion:badarg')
     tc.verifyError( @() [q1 q1] * [q1 q1 q1], 'RTB:Quaternion:badarg')
-    
+    tc.verifyError( @() q1*SE3, 'RTB:Quaternion:badarg')
+
 
 end
 
@@ -210,7 +211,7 @@ function divide_test(tc)
     %% errors
 
     tc.verifyError( @() q1 / [1 2 3], 'RTB:Quaternion:badarg')
-    tc.verifyError( @() [q1 q1] / [q1 q1 q1], 'RTB:Quaternion:badarg')
+    tc.verifyError( @() [q1 q1] / SE3, 'RTB:Quaternion:badarg')
 
 end
 

unit_test/SO3Test.m

@@ -327,6 +327,33 @@ function conversions_test(tc)
     tc.verifyEqual(RR.log, skew(v)*th);
 end
 
+function interp_test(tc)
+        
+    rx = SO3.Rx(pi/2);
+    ry = SO3.Ry(pi/2);
+    rz = SO3.Rz(pi/2);
+    u = SO3();
+    
+    R = rx*ry*rz;
+    
+    % from null
+    tc.verifyEqual(u.interp(R, 0), u);
+    tc.verifyEqual(u.interp(R, 1), R );
+    
+    tc.verifyEqual(length(u.interp(R, linspace(0,1, 10))), 10);
+    verifyTrue(tc, all( u.interp(R, [0 1]) == [u R]));
+    
+    R0_5 = u.interp(R, 0.5);
+    tc.verifyEqual( R0_5 * R0_5, R);
+    
+    % between two SO3
+    tc.verifyEqual(R.interp(rx, 0), R );
+    tc.verifyEqual(R.interp(rx, 1), rx );
+    
+    verifyTrue(tc, all( R.interp(rx, [0 1]) == [R rx]));
+    
+end
+
 function miscellany_test(tc)
 
     r = SO3.rpy( 0.1, 0.2, 0.3 );

unit_test/TransformationsTest.m

@@ -816,6 +816,11 @@ function trinterp_test(tc)
     tc.verifyEqual(T(:,:,1), T0, 'abstol', 1e-10);
     tc.verifyEqual(T(:,:,2), Tm, 'abstol', 1e-10);
     tc.verifyEqual(T(:,:,3), T1, 'abstol', 1e-10);
+    
+    tc.verifyError( @() trinterp(T0, T1, -1), 'RTB:trinterp:badarg');
+    tc.verifyError( @() trinterp(T0, T1, 1.7), 'RTB:trinterp:badarg');
+    tc.verifyError( @() trinterp(T0), 'RTB:trinterp:badarg');
+
 end
 
 
@@ -891,6 +896,10 @@ function trnorm_test(tc)
 
 function trprint_test(tc)
 
+    % null case
+    
+    trprint(eye(4,4))
+    
     a = transl([1,2,3]) * eul2tr([.1, .2, .3]);
 
     trprint(a);
@@ -1031,6 +1040,11 @@ function trlog_test(tc)
     tc.verifyEqual(trlog( roty(0.3) ), skew([0 0.3 0]), 'absTol', 1e-6);
     tc.verifyEqual(trlog( rotz(0.4) ), skew([0 0 0.4]), 'absTol', 1e-6);
 
+    
+    R = rotx(0.2) * roty(0.3) * rotz(0.4);
+    [th,w] = trlog(R);
+    tc.verifyEqual( logm(R), skew(th*w), 'absTol', 1e-10)
+    
     %%% SE(3) tests
 
     % pure translation
@@ -1044,6 +1058,10 @@ function trlog_test(tc)
     T = transl([1 2 3])*troty(0.3);
     tc.verifyEqual(trlog(T), logm(T), 'absTol', 1e-6);
 
+    [th,w] = trlog(T);
+    tc.verifyEqual( logm(T), skewa(th*w), 'absTol', 1e-10)
+    
+    
     verifyError(tc, @()trlog(0),'RTB:trlog:badarg');
 end