diff options
author | Gael Guennebaud <g.gael@free.fr> | 2013-07-13 10:55:04 +0200 |
---|---|---|
committer | Gael Guennebaud <g.gael@free.fr> | 2013-07-13 10:55:04 +0200 |
commit | 06a5bcecf68cd7d1d65ef3cc27dca69da6094303 (patch) | |
tree | c4182b386ae28c4f46f8e71b946c684af024eb39 /test/geo_eulerangles.cpp | |
parent | 7ee378d89da93d2556ba000f59783c4c0e32e9a0 (diff) |
Stabilize eulerangle unit test.
Diffstat (limited to 'test/geo_eulerangles.cpp')
-rw-r--r-- | test/geo_eulerangles.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp index 4361625e3..5445cd81a 100644 --- a/test/geo_eulerangles.cpp +++ b/test/geo_eulerangles.cpp @@ -17,13 +17,16 @@ template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) typedef Matrix<Scalar,3,3> Matrix3; typedef Matrix<Scalar,3,1> Vector3; typedef AngleAxis<Scalar> AngleAxisx; + using std::abs; #define VERIFY_EULER(I,J,K, X,Y,Z) { \ Matrix3 m(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \ Vector3 eabis = m.eulerAngles(I,J,K); \ Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit##X()) * AngleAxisx(eabis[1], Vector3::Unit##Y()) * AngleAxisx(eabis[2], Vector3::Unit##Z())); \ VERIFY_IS_APPROX(m, mbis); \ - if(I!=K || ea[1]!=0) VERIFY_IS_APPROX(ea, eabis); \ + /* 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(M_PI/2),test_precision<Scalar>())) ) VERIFY((ea-eabis).norm() <= test_precision<Scalar>()); \ } VERIFY_EULER(0,1,2, X,Y,Z); VERIFY_EULER(0,1,0, X,Y,X); |