diff options
author | Greg Coombe <greg.coombe@gmail.com> | 2019-01-11 23:14:35 -0800 |
---|---|---|
committer | Greg Coombe <greg.coombe@gmail.com> | 2019-01-11 23:14:35 -0800 |
commit | 9d988a1e1a83c51422d96030fdad7267e4e946ee (patch) | |
tree | 5344aeaa1bb66bef0a8cfe7f0345c6209e2de1c4 /test/geo_transformations.cpp | |
parent | 4356a55a61c99faec681b20c5477b7e7012ca128 (diff) |
Initialize isometric transforms like affine transforms.
The isometric transform, like the affine transform, has an implicit last
row of [0, 0, 0, 1]. This was not being properly initialized, as verified
by a new test function.
Diffstat (limited to 'test/geo_transformations.cpp')
-rwxr-xr-x | test/geo_transformations.cpp | 61 |
1 files changed, 60 insertions, 1 deletions
diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index bf920696b..25f1d9aa0 100755 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -612,6 +612,62 @@ template<typename Scalar, int Dim, int Options> void transform_products() VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); } +template<typename Scalar, int Mode, int Options> void transformations_no_scale() +{ + /* this test covers the following files: + Cross.h Quaternion.h, Transform.h + */ + typedef Matrix<Scalar,3,1> Vector3; + typedef Matrix<Scalar,4,1> Vector4; + typedef Quaternion<Scalar> Quaternionx; + typedef AngleAxis<Scalar> AngleAxisx; + typedef Transform<Scalar,3,Mode,Options> Transform3; + typedef Translation<Scalar,3> Translation3; + typedef Matrix<Scalar,4,4> Matrix4; + + Vector3 v0 = Vector3::Random(), + v1 = Vector3::Random(); + + Transform3 t0, t1, t2; + + Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); + + Quaternionx q1, q2; + + q1 = AngleAxisx(a, v0.normalized()); + + t0 = Transform3::Identity(); + VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); + + t0.setIdentity(); + t1.setIdentity(); + v1 = Vector3::Ones(); + t0.linear() = q1.toRotationMatrix(); + t0.pretranslate(v0); + t1.linear() = q1.conjugate().toRotationMatrix(); + t1.translate(-v0); + + VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); + + t1.fromPositionOrientationScale(v0, q1, v1); + VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); + VERIFY_IS_APPROX(t1*v1, t0*v1); + + // translation * vector + t0.setIdentity(); + t0.translate(v0); + VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); + + // Conversion to matrix. + Transform3 t3; + t3.linear() = q1.toRotationMatrix(); + t3.translation() = v1; + Matrix4 m3 = t3.matrix(); + VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>())); + // Verify implicit last row is initialized. + VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0)); +} + EIGEN_DECLARE_TEST(geo_transformations) { for(int i = 0; i < g_repeat; i++) { @@ -625,7 +681,7 @@ EIGEN_DECLARE_TEST(geo_transformations) CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() )); CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() )); CALL_SUBTEST_3(( transform_alignment<double>() )); - + CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() )); CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() )); @@ -641,5 +697,8 @@ EIGEN_DECLARE_TEST(geo_transformations) CALL_SUBTEST_8(( transform_associativity<double,2,ColMajor>(Rotation2D<double>(internal::random<double>()*double(EIGEN_PI))) )); CALL_SUBTEST_8(( transform_associativity<double,3,ColMajor>(Quaterniond::UnitRandom()) )); + + CALL_SUBTEST_9(( transformations_no_scale<double,Affine,AutoAlign>() )); + CALL_SUBTEST_9(( transformations_no_scale<double,Isometry,AutoAlign>() )); } } |