Fix bug #609: avoid if statement and improve consistency of eulerAngles method

1 files changed, 46 insertions, 12 deletions

diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp
index 9bf149d2a..26456beee 100644
--- a/test/geo_eulerangles.cpp
+++ b/test/geo_eulerangles.cpp
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,22 +12,18 @@
 #include <Eigen/LU>
 #include <Eigen/SVD>
 
-template<typename Scalar> void eulerangles(void)
+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 Quaternion<Scalar> Quaternionx;
   typedef AngleAxis<Scalar> AngleAxisx;
-
-  Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
-  Quaternionx q1;
-  q1 = AngleAxisx(a, Vector3::Random().normalized());
-  Matrix3 m;
-  m = q1;
-
+  
   #define VERIFY_EULER(I,J,K, X,Y,Z) { \
-    Vector3 ea = m.eulerAngles(I,J,K); \
-    VERIFY_IS_APPROX(m,  Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##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); \
   }
   VERIFY_EULER(0,1,2, X,Y,Z);
   VERIFY_EULER(0,1,0, X,Y,X);
@@ -45,6 +41,44 @@ template<typename Scalar> void eulerangles(void)
   VERIFY_EULER(2,1,2, Z,Y,Z);
 }
 
+template<typename Scalar> void eulerangles(void)
+{
+  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(M_PI), Scalar(M_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);
+  
+  ea = (Array3::Random() + Array3(1,1,0))*M_PI*Array3(0.5,0.5,1);
+  check_all_var(ea);
+  
+  ea[2] = ea[0] = internal::random<Scalar>(0,M_PI);
+  check_all_var(ea);
+  
+  ea[0] = ea[1] = internal::random<Scalar>(0,M_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_geo_eulerangles()
 {
   for(int i = 0; i < g_repeat; i++) {