Much better tests, and a little bit more functionality.

2 files changed, 39 insertions, 7 deletions

diff --git a/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
index b3bd66441..ccde28eb6 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerAngles.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
@@ -37,16 +37,26 @@ namespace Eigen
       typedef Matrix<Scalar,3,1> Vector3;
       typedef Quaternion<Scalar> QuaternionType;
       typedef AngleAxis<Scalar> AngleAxisType;
+      
+      static Vector3 HeadingAxisVector() {
+        return internal::NegativeIf<System::IsHeadingOpposite>::run(Vector3::Unit(System::HeadingAxisAbs - 1));
+      }
+      
+      static Vector3 PitchAxisVector() {
+        return internal::NegativeIf<System::IsPitchOpposite>::run(Vector3::Unit(System::PitchAxisAbs - 1));
+      }
+      
+      static Vector3 RollAxisVector() {
+        return internal::NegativeIf<System::IsRollOpposite>::run(Vector3::Unit(System::RollAxisAbs - 1));
+      }
 
-    protected:
-
+    private:
       Vector3 m_angles;
 
     public:
 
       EulerAngles() {}
       inline EulerAngles(Scalar a0, Scalar a1, Scalar a2) : m_angles(a0, a1, a2) {}
-      inline EulerAngles(Vector3 angles) : m_angles(angles) {}
       inline EulerAngles(const QuaternionType& q) { *this = q; }
       inline EulerAngles(const AngleAxisType& aa) { *this = aa; }
       template<typename Derived>
@@ -116,7 +126,7 @@ namespace Eigen
       EulerAngles& operator=(const QuaternionType& q){
         // TODO: Implement it in a better way
         // According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
-        //  we can compute only the needed matrix cells and then convert to euler angles.
+        //  we can compute only the needed matrix cells and then convert to euler angles. (see ZYX example below)
         // Currently we compute all matrix cells from quaternion.
 
         fromRotationMatrix(q.toRotationMatrix());
@@ -131,6 +141,8 @@ namespace Eigen
         return *this;
       }
       
+      // TODO: Support isApprox function
+      
       /** Set \c *this from AngleAxis \a ea.
        */
       EulerAngles& operator=(const AngleAxisType& ea)
diff --git a/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
index fc782e914..6ee3f51df 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerSystem.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
@@ -32,6 +32,26 @@ namespace Eigen
     };
   
     template <bool Cond>
+    struct NegativeIf
+    {
+      template <typename T>
+      static T run(const T& t)
+      {
+        return -t;
+      }
+    };
+  
+    template <>
+    struct NegativeIf<false>
+    {
+      template <typename T>
+      static T run(const T& t)
+      {
+        return t;
+      }
+    };
+  
+    template <bool Cond>
     struct NegateIf
     {
       template <typename T>
@@ -45,7 +65,7 @@ namespace Eigen
     struct NegateIf<false>
     {
       template <typename T>
-      static void run(T& t)
+      static void run(T&)
       {
         // no op
       }
@@ -113,7 +133,7 @@ namespace Eigen
     };
     
     template <typename Derived>
-    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type isTaitBryan)
+    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar, 3, 1>& res, const MatrixBase<Derived>& mat, internal::true_type /*isTaitBryan*/)
     {
       using std::atan2;
       using std::sin;
@@ -136,7 +156,7 @@ namespace Eigen
     }
 
     template <typename Derived>
-    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type isTaitBryan)
+    static void eulerAngles_imp(Matrix<typename MatrixBase<Derived>::Scalar,3,1>& res, const MatrixBase<Derived>& mat, internal::false_type /*isTaitBryan*/)
     {
       using std::atan2;
       using std::sin;