Much better tests, and a little bit more functionality.

3 files changed, 158 insertions, 9 deletions

diff --git a/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
index b3bd66441..ccde28eb6 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerAngles.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
@@ -37,16 +37,26 @@ namespace Eigen
       typedef Matrix<Scalar,3,1> Vector3;
       typedef Quaternion<Scalar> QuaternionType;
       typedef AngleAxis<Scalar> AngleAxisType;
+      
+      static Vector3 HeadingAxisVector() {
+        return internal::NegativeIf<System::IsHeadingOpposite>::run(Vector3::Unit(System::HeadingAxisAbs - 1));
+      }
+      
+      static Vector3 PitchAxisVector() {
+        return internal::NegativeIf<System::IsPitchOpposite>::run(Vector3::Unit(System::PitchAxisAbs - 1));
+      }
+      
+      static Vector3 RollAxisVector() {
+        return internal::NegativeIf<System::IsRollOpposite>::run(Vector3::Unit(System::RollAxisAbs - 1));
+      }
 
-    protected:
-
+    private:
       Vector3 m_angles;
 
     public:
 
       EulerAngles() {}
       inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
-      inline EulerAngles(Vector3 angles) : m_angles(angles) {}
       inline EulerAngles(const QuaternionType& q) { *this = q; }
       inline EulerAngles(const AngleAxisType& aa) { *this = aa; }
       template<typename Derived>
@@ -116,7 +126,7 @@ namespace Eigen
       EulerAngles& operator=(const QuaternionType& q){
         // TODO: Implement it in a better way
         // According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
-        //  we can compute only the needed matrix cells and then convert to euler angles.
+        //  we can compute only the needed matrix cells and then convert to euler angles. (see ZYX example below)
         // Currently we compute all matrix cells from quaternion.
 
         fromRotationMatrix(q.toRotationMatrix());
@@ -131,6 +141,8 @@ namespace Eigen
         return *this;
       }
       
+      // TODO: Support isApprox function
+      
       /** Set \c *this from AngleAxis \a ea.
        */
       EulerAngles& operator=(const AngleAxisType& ea)
diff --git a/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
index fc782e914..6ee3f51df 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerSystem.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
@@ -32,6 +32,26 @@ namespace Eigen
     };
   
     template <bool Cond>
+    struct NegativeIf
+    {
+      template <typename T>
+      static T run(const T& t)
+      {
+        return -t;
+      }
+    };
+  
+    template <>
+    struct NegativeIf<false>
+    {
+      template <typename T>
+      static T run(const T& t)
+      {
+        return t;
+      }
+    };
+  
+    template <bool Cond>
     struct NegateIf
     {
       template <typename T>
@@ -45,7 +65,7 @@ namespace Eigen
     struct NegateIf<false>
     {
       template <typename T>
-      static void run(T& t)
+      static void run(T&)
       {
         // no op
       }
@@ -113,7 +133,7 @@ namespace Eigen
     };
     
     template <typename Derived>
-    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type isTaitBryan)
+    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type /*isTaitBryan*/)
     {
       using std::atan2;
       using std::sin;
@@ -136,7 +156,7 @@ namespace Eigen
     }
 
     template <typename Derived>
-    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type isTaitBryan)
+    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type /*isTaitBryan*/)
     {
       using std::atan2;
       using std::sin;
diff --git a/unsupported/test/EulerAngles.cpp b/unsupported/test/EulerAngles.cpp
index d03db1ac3..57a34776a 100644
--- a/unsupported/test/EulerAngles.cpp
+++ b/unsupported/test/EulerAngles.cpp
@@ -11,8 +11,125 @@
 
 #include <unsupported/Eigen/EulerAngles>
 
-void test_EulerAngles()
+using namespace Eigen;
+
+template<typename EulerSystem, typename Scalar>
+void verify_euler(const Matrix<Scalar,3,1>& ea)
+{
+  typedef EulerAngles<Scalar, EulerSystem> EulerAnglesType;
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef AngleAxis<Scalar> AngleAxisx;
+  using std::abs;
+  
+  const int i = EulerSystem::HeadingAxisAbs - 1;
+  const int j = EulerSystem::PitchAxisAbs - 1;
+  const int k = EulerSystem::RollAxisAbs - 1;
+  
+  const int iFactor = EulerSystem::IsHeadingOpposite ? -1 : 1;
+  const int jFactor = EulerSystem::IsPitchOpposite ? -1 : 1;
+  const int kFactor = EulerSystem::IsRollOpposite ? -1 : 1;
+  
+  const Vector3 I = EulerAnglesType::HeadingAxisVector();
+  const Vector3 J = EulerAnglesType::PitchAxisVector();
+  const Vector3 K = EulerAnglesType::RollAxisVector();
+  
+  EulerAnglesType e(ea[0], ea[1], ea[2]);
+  
+  Matrix3 m(e);
+  Vector3 eabis = EulerAnglesType(m).coeffs();
+  Vector3 eabis2 = m.eulerAngles(i, j, k);
+  eabis2[0] *= iFactor;
+  eabis2[1] *= jFactor;
+  eabis2[2] *= kFactor;
+  
+  VERIFY_IS_APPROX(eabis, eabis2);// Verify that our estimation is the same as m.eulerAngles() is
+  
+  Matrix3 mbis(AngleAxisx(eabis[0], I) * AngleAxisx(eabis[1], J) * AngleAxisx(eabis[2], K));
+  VERIFY_IS_APPROX(m,  mbis);
+  /* If I==K, and ea[1]==0, then there no unique solution. */ 
+  /* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */ 
+  if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(EIGEN_PI/2),test_precision<Scalar>())) ) 
+    VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
+  
+  // approx_or_less_than does not work for 0
+  VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
+  VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
+  VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[1]);
+  VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI));
+  VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]);
+  VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI));
+}
+
+template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
+{
+  verify_euler<EulerSystemXYZ, Scalar>(ea);
+  verify_euler<EulerSystemXYX, Scalar>(ea);
+  verify_euler<EulerSystemXZY, Scalar>(ea);
+  verify_euler<EulerSystemXZX, Scalar>(ea);
+  
+  verify_euler<EulerSystemYZX, Scalar>(ea);
+  verify_euler<EulerSystemYZY, Scalar>(ea);
+  verify_euler<EulerSystemYXZ, Scalar>(ea);
+  verify_euler<EulerSystemYXY, Scalar>(ea);
+  
+  verify_euler<EulerSystemZXY, Scalar>(ea);
+  verify_euler<EulerSystemZXZ, Scalar>(ea);
+  verify_euler<EulerSystemZYX, Scalar>(ea);
+  verify_euler<EulerSystemZYZ, Scalar>(ea);
+}
+
+template<typename Scalar> void eulerangles()
 {
-  //CALL_SUBTEST( test_return_by_value(32) );
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Array<Scalar,3,1> Array3;
+  typedef Quaternion<Scalar> Quaternionx;
+  typedef AngleAxis<Scalar> AngleAxisx;
+
+  Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
+  Quaternionx q1;
+  q1 = AngleAxisx(a, Vector3::Random().normalized());
+  Matrix3 m;
+  m = q1;
+  
+  Vector3 ea = m.eulerAngles(0,1,2);
+  check_all_var(ea);
+  ea = m.eulerAngles(0,1,0);
+  check_all_var(ea);
+  
+  // Check with purely random Quaternion:
+  q1.coeffs() = Quaternionx::Coefficients::Random().normalized();
+  m = q1;
+  ea = m.eulerAngles(0,1,2);
+  check_all_var(ea);
+  ea = m.eulerAngles(0,1,0);
+  check_all_var(ea);
+  
+  // Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi].
+  ea = (Array3::Random() + Array3(1,0,0))*Scalar(EIGEN_PI)*Array3(0.5,1,1);
+  check_all_var(ea);
+  
+  ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(EIGEN_PI));
+  check_all_var(ea);
   
+  ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(EIGEN_PI));
+  check_all_var(ea);
+  
+  ea[1] = 0;
+  check_all_var(ea);
+  
+  ea.head(2).setZero();
+  check_all_var(ea);
+  
+  ea.setZero();
+  check_all_var(ea);
+}
+
+void test_EulerAngles()
+{
+  for(int i = 0; i < g_repeat; i++) {
+    CALL_SUBTEST_1( eulerangles<float>() );
+    CALL_SUBTEST_2( eulerangles<double>() );
+  }
 }