fix bug #42, add missing Transform::Identity()

1 files changed, 7 insertions, 0 deletions

diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp
index 2b05f2457..23b297314 100644
--- a/test/geo_transformations.cpp
+++ b/test/geo_transformations.cpp
@@ -102,7 +102,14 @@ template<typename Scalar, int Mode> void transformations(void)
     a = ei_random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI));
   q1 = AngleAxisx(a, v0.normalized());
   Transform3 t0, t1, t2;
+
+  // first test setIdentity() and Identity()
   t0.setIdentity();
+  VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
+  t0.matrix().setZero();
+  t0 = Transform3::Identity();
+  VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
+  
   t0.linear() = q1.toRotationMatrix();
   t1.setIdentity();
   t1.linear() = q1.toRotationMatrix();