testFRAME

function testFRAME
% TESTFRAME  Testing function FRAME
%    Example:
%    To perform a series of tests of function FRAME, use
%    TESTFRAME (without arguments)

alph =  pi/5;
bet  = -pi*0.66;
gam  =  pi*1.76;
R = Rx(eye(3),alph) * Ry(eye(3),bet) * Rz(eye(3),gam);
x = R(:,1);
y = R(:,2);
z = R(:,3);
check(R, x,y,z);

R = R(:,:,ones(1,20));
x = x(:,  ones(1,20));
y = y(:,  ones(1,20));
z = z(:,  ones(1,20));
check(R, x,y,z);

clear R2 x2 y2 z2;
R2 = permute(R, [3,1,2]);
x2 = x';
y2 = y';
z2 = z';
check(R2, x2,y2,z2);

clear R2 x2 y2 z2;
R2 = permute(R, [4,3,1,2]);
x2(1,:,:) = x';
y2(1,:,:) = y';
z2(1,:,:) = z';
check(R2, x2,y2,z2);


% -------------------------------------------------------------------------
function check(R, x,y,z)

x=x*33.3;
y=y*29.3;
z=z*40.567;

R1 = frame(x,y,'z', x,  'x');
R2 = frame(x,y,'z', z+x,'x');
R3 = frame(x,y,'z', y,  'y');
R4 = frame(x,y,'z', z+y,'y');

R5 = frame(y,z,'x', x+y,'y');
R6 = frame(y,z,'x', x+z,'z');

R7 = frame(z,x,'y', y+z,'z');
R8 = frame(z,x,'y', y+x,'x');

factor = 5;
if any( abs( R(:)-R1(:) ) > factor*eps ) || ...
   any( abs( R(:)-R2(:) ) > factor*eps ) || ...     
   any( abs( R(:)-R3(:) ) > factor*eps ) || ...     
   any( abs( R(:)-R4(:) ) > factor*eps ) || ...     
   any( abs( R(:)-R5(:) ) > factor*eps ) || ...     
   any( abs( R(:)-R6(:) ) > factor*eps ) || ...     
   any( abs( R(:)-R7(:) ) > factor*eps ) || ...     
   any( abs( R(:)-R8(:) ) > factor*eps )
   disp 'SOMETHING WRONG :-('
   pause
else
   disp ';-)'
   disp 'Only small differences found (rounding errors, smaller than'
   disp ([num2str(factor), ' times the machine precision EPS (2^-52)'])
   disp ';-)'
end
disp ' ';