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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_quaternion.cpp | |
| parent | 9756c7fb4dfc8ab06ddb415252674e81c150e90d (diff) | |
Introduce EIGEN_PI, get rid of M_PI and acos(-1.0)
Diffstat (limited to 'test/geo_quaternion.cpp')
| -rw-r--r-- | test/geo_quaternion.cpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/test/geo_quaternion.cpp b/test/geo_quaternion.cpp index de0f2aeda..7d56c119c 100644 --- a/test/geo_quaternion.cpp +++ b/test/geo_quaternion.cpp @@ -30,8 +30,8 @@ template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType& Scalar largeEps = test_precision<Scalar>(); Scalar theta_tot = AA(q1*q0.inverse()).angle(); - if(theta_tot>M_PI) - theta_tot = Scalar(2.*M_PI)-theta_tot; + if(theta_tot>EIGEN_PI) + theta_tot = Scalar(2.*EIGEN_PI)-theta_tot; for(Scalar t=0; t<=Scalar(1.001); t+=Scalar(0.1)) { QuatType q = q0.slerp(t,q1); @@ -64,8 +64,8 @@ template<typename Scalar, int Options> void quaternion(void) v2 = Vector3::Random(), v3 = Vector3::Random(); - Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)), - b = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)), + b = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); // Quaternion: Identity(), setIdentity(); Quaternionx q1, q2; @@ -82,8 +82,8 @@ template<typename Scalar, int Options> void quaternion(void) // angular distance Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle()); - if (refangle>Scalar(M_PI)) - refangle = Scalar(2)*Scalar(M_PI) - refangle; + if (refangle>Scalar(EIGEN_PI)) + refangle = Scalar(2)*Scalar(EIGEN_PI) - refangle; if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps) { @@ -156,7 +156,7 @@ template<typename Scalar, int Options> void quaternion(void) check_slerp(q1,q2); q1 = AngleAxisx(b, v1.normalized()); - q2 = AngleAxisx(b+Scalar(M_PI), v1.normalized()); + q2 = AngleAxisx(b+Scalar(EIGEN_PI), v1.normalized()); check_slerp(q1,q2); q1 = AngleAxisx(b, v1.normalized()); @@ -179,7 +179,7 @@ template<typename Scalar> void mapQuaternion(void){ Vector3 v0 = Vector3::Random(), v1 = Vector3::Random(); - Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); EIGEN_ALIGN_DEFAULT Scalar array1[4]; EIGEN_ALIGN_DEFAULT Scalar array2[4]; |