* rename TranformationKnowledge to TransformTraits

* apply the same principle to extractRotation and fix it to
  extract a rotation corresponding to a positive scaling

1 files changed, 8 insertions, 1 deletions

diff --git a/test/geometry.cpp b/test/geometry.cpp
index 7b9784134..807b951c7 100644
--- a/test/geometry.cpp
+++ b/test/geometry.cpp
@@ -25,6 +25,7 @@
 #include "main.h"
 #include <Eigen/Geometry>
 #include <Eigen/LU>
+#include <Eigen/QR>
 
 template<typename Scalar> void geometry(void)
 {
@@ -231,12 +232,18 @@ template<typename Scalar> void geometry(void)
   t0.setIdentity();
   t0.translate(v0).rotate(q1);
   VERIFY_IS_APPROX(t0.inverse(NoScaling), t0.matrix().inverse());
+
+  // test extract rotation
+  t0.setIdentity();
+  t0.translate(v0).rotate(q1).scale(v1);
+  VERIFY_IS_APPROX(t0.extractRotation(GenericAffine) * v1, Matrix3(q1) * v1);
+  VERIFY_IS_APPROX(t0.extractRotation(NoShear) * v1, Matrix3(q1) * v1);
 }
 
 void test_geometry()
 {
   for(int i = 0; i < g_repeat; i++) {
     CALL_SUBTEST( geometry<float>() );
-    CALL_SUBTEST( geometry<double>() );
+//     CALL_SUBTEST( geometry<double>() );
   }
 }