* fix Quaternion::setFromTwoVectors (thanks to "benv" from the forum)

* extend PartialRedux::cross() to any matrix sizes with automatic
  vectorization when possible
* unit tests: add "geo_" prefix to all unit tests related to the
  geometry module and start splitting the big "geometry.cpp" tests to
  multiple smaller ones (also include new tests)

1 files changed, 70 insertions, 0 deletions

diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp
new file mode 100644
index 000000000..fbb51cd83
--- /dev/null
+++ b/test/geo_eulerangles.cpp
@@ -0,0 +1,70 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#include "main.h"
+#include <Eigen/Geometry>
+#include <Eigen/LU>
+#include <Eigen/SVD>
+
+template<typename Scalar> void eulerangles(void)
+{
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Quaternion<Scalar> Quaternionx;
+  typedef AngleAxis<Scalar> AngleAxisx;
+
+  Scalar a = ei_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); \
+    Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
+    VERIFY_IS_APPROX(m,  Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
+  }
+  VERIFY_EULER(0,1,2, X,Y,Z);
+  VERIFY_EULER(0,1,0, X,Y,X);
+  VERIFY_EULER(0,2,1, X,Z,Y);
+  VERIFY_EULER(0,2,0, X,Z,X);
+
+  VERIFY_EULER(1,2,0, Y,Z,X);
+  VERIFY_EULER(1,2,1, Y,Z,Y);
+  VERIFY_EULER(1,0,2, Y,X,Z);
+  VERIFY_EULER(1,0,1, Y,X,Y);
+
+  VERIFY_EULER(2,0,1, Z,X,Y);
+  VERIFY_EULER(2,0,2, Z,X,Z);
+  VERIFY_EULER(2,1,0, Z,Y,X);
+  VERIFY_EULER(2,1,2, Z,Y,Z);
+}
+
+void test_geo_eulerangles()
+{
+  for(int i = 0; i < g_repeat; i++) {
+    CALL_SUBTEST( eulerangles<float>() );
+    CALL_SUBTEST( eulerangles<double>() );
+  }
+}