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| author |  Gael Guennebaud <g.gael@free.fr> | 2015-07-07 17:27:12 +0200 |
|---|---|---|
| committer | Gael Guennebaud <g.gael@free.fr> | 2015-07-07 17:27:12 +0200 |
| commit | fa17358c4b2355cfc0fab48b4e1f5422f7fba9a7 (patch) | |
| tree | 52215a6e856994288f5f99942bb6bfa0473e3188 /test/geo_transformations.cpp | |
| parent | 3f2101b03b1fb96ef521dce3ae966ac18e90266d (diff) | |
Rotation2D: fix slerp to take the shortest path, and add convenient method to get the angle in [-pi,pi] or [0,pi]
Diffstat (limited to 'test/geo_transformations.cpp')
| -rw-r--r-- | test/geo_transformations.cpp | 37 |
1 files changed, 34 insertions, 3 deletions
diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index c4025f32f..e296267cf 100644 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -408,7 +408,24 @@ template<typename Scalar, int Mode, int Options> void transformations() VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1); Rotation2D<double> r2d1d = r2d1.template cast<double>(); VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1); + + for(int k=0; k<100; ++k) + { + Scalar angle = internal::random<Scalar>(-100,100); + Rotation2D<Scalar> rot2(angle); + VERIFY( rot2.smallestPositiveAngle() >= 0 ); + VERIFY( rot2.smallestPositiveAngle() < Scalar(2)*Scalar(EIGEN_PI) ); + VERIFY_IS_APPROX( std::cos(rot2.smallestPositiveAngle()), std::cos(rot2.angle()) ); + VERIFY_IS_APPROX( std::sin(rot2.smallestPositiveAngle()), std::sin(rot2.angle()) ); + + VERIFY( rot2.smallestAngle() >= -Scalar(EIGEN_PI) ); + VERIFY( rot2.smallestAngle() <= Scalar(EIGEN_PI) ); + VERIFY_IS_APPROX( std::cos(rot2.smallestAngle()), std::cos(rot2.angle()) ); + VERIFY_IS_APPROX( std::sin(rot2.smallestAngle()), std::sin(rot2.angle()) ); + } + s0 = internal::random<Scalar>(-100,100); + s1 = internal::random<Scalar>(-100,100); Rotation2D<Scalar> R0(s0), R1(s1); t20 = Translation2(v20) * (R0 * Eigen::Scaling(s0)); @@ -420,9 +437,23 @@ template<typename Scalar, int Mode, int Options> void transformations() VERIFY_IS_APPROX(t20,t21); VERIFY_IS_APPROX(s0, (R0.slerp(0, R1)).angle()); - VERIFY_IS_APPROX(s1, (R0.slerp(1, R1)).angle()); - VERIFY_IS_APPROX(s0, (R0.slerp(0.5, R0)).angle()); - VERIFY_IS_APPROX(Scalar(0), (R0.slerp(0.5, R0.inverse())).angle()); + VERIFY_IS_APPROX(R1.smallestPositiveAngle(), (R0.slerp(1, R1)).smallestPositiveAngle()); + VERIFY_IS_APPROX(R0.smallestPositiveAngle(), (R0.slerp(0.5, R0)).smallestPositiveAngle()); + + if(std::cos(s0)>0) + VERIFY_IS_MUCH_SMALLER_THAN((R0.slerp(0.5, R0.inverse())).smallestAngle(), Scalar(1)); + else + VERIFY_IS_APPROX(Scalar(EIGEN_PI), (R0.slerp(0.5, R0.inverse())).smallestPositiveAngle()); + + // Check path length + Scalar l = 0; + for(int k=0; k<100; ++k) + { + Scalar a1 = R0.slerp(Scalar(k)/Scalar(100), R1).angle(); + Scalar a2 = R0.slerp(Scalar(k+1)/Scalar(100), R1).angle(); + l += std::abs(a2-a1); + } + VERIFY(l<=EIGEN_PI); // check basic features { |