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| author |  Gael Guennebaud <g.gael@free.fr> | 2015-06-10 17:12:10 +0200 |
|---|---|---|
| committer | Gael Guennebaud <g.gael@free.fr> | 2015-06-10 17:12:10 +0200 |
| commit | d93ba137f2cc69f3b544c5aa7ecc37651a7bc219 (patch) | |
| tree | bb81944ed2d941189b4268322a7dd20711e52fba /test/geo_eulerangles.cpp | |
| parent | 9756c7fb4dfc8ab06ddb415252674e81c150e90d (diff) | |
Introduce EIGEN_PI, get rid of M_PI and acos(-1.0)
Diffstat (limited to 'test/geo_eulerangles.cpp')
| -rw-r--r-- | test/geo_eulerangles.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp index b4830bd41..932ebe773 100644 --- a/test/geo_eulerangles.cpp +++ b/test/geo_eulerangles.cpp @@ -26,16 +26,16 @@ void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int 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(M_PI/2),test_precision<Scalar>())) ) + 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(M_PI)); - VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[1]); - VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(M_PI)); - VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[2]); - VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(M_PI)); + 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) @@ -64,7 +64,7 @@ template<typename Scalar> void eulerangles() typedef Quaternion<Scalar> Quaternionx; typedef AngleAxis<Scalar> AngleAxisx; - Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); Quaternionx q1; q1 = AngleAxisx(a, Vector3::Random().normalized()); Matrix3 m; @@ -84,13 +84,13 @@ template<typename Scalar> void eulerangles() 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(M_PI)*Array3(0.5,1,1); + 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(M_PI)); + ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(EIGEN_PI)); check_all_var(ea); - ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(M_PI)); + ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(EIGEN_PI)); check_all_var(ea); ea[1] = 0; |