diff options
author | Tal Hadad <tal_hd@hotmail.com> | 2016-10-14 16:03:28 +0300 |
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committer | Tal Hadad <tal_hd@hotmail.com> | 2016-10-14 16:03:28 +0300 |
commit | 078a20262145fdce8faed37dde05ec7ccc78210e (patch) | |
tree | 817f0fec806a4de64a54502d789c0b5aee9c2d07 /unsupported/test/EulerAngles.cpp | |
parent | f3a00dd2b5faf6037b72dee50213e4d4538dd77a (diff) | |
parent | 014d9f1d9b60206deaeb7ac5349816cb556fb35b (diff) |
Merge Hongkai Dai correct range calculation, and remove ranges from API.
Docs updated.
Diffstat (limited to 'unsupported/test/EulerAngles.cpp')
-rw-r--r-- | unsupported/test/EulerAngles.cpp | 129 |
1 files changed, 43 insertions, 86 deletions
diff --git a/unsupported/test/EulerAngles.cpp b/unsupported/test/EulerAngles.cpp index a8cb52864..8b4706686 100644 --- a/unsupported/test/EulerAngles.cpp +++ b/unsupported/test/EulerAngles.cpp @@ -13,125 +13,80 @@ using namespace Eigen; +// Verify that x is in the approxed range [a, b] +#define VERIFY_APPROXED_RANGE(a, x, b) \ + do { \ + VERIFY_IS_APPROX_OR_LESS_THAN(a, x); \ + VERIFY_IS_APPROX_OR_LESS_THAN(x, b); \ + } while(0) + template<typename EulerSystem, typename Scalar> -void verify_euler_ranged(const Matrix<Scalar,3,1>& ea, - bool positiveRangeAlpha, bool positiveRangeBeta, bool positiveRangeGamma) +void verify_euler(const Matrix<Scalar,3,1>& ea) { typedef EulerAngles<Scalar, EulerSystem> EulerAnglesType; typedef Matrix<Scalar,3,3> Matrix3; typedef Matrix<Scalar,3,1> Vector3; typedef Quaternion<Scalar> QuaternionType; typedef AngleAxis<Scalar> AngleAxisType; - using std::abs; - Scalar alphaRangeStart, alphaRangeEnd; - Scalar betaRangeStart, betaRangeEnd; - Scalar gammaRangeStart, gammaRangeEnd; - - if (positiveRangeAlpha) - { - alphaRangeStart = Scalar(0); - alphaRangeEnd = Scalar(2 * EIGEN_PI); - } - else - { - alphaRangeStart = -Scalar(EIGEN_PI); - alphaRangeEnd = Scalar(EIGEN_PI); - } + const Scalar ONE = Scalar(1); + const Scalar HALF_PI = Scalar(EIGEN_PI / 2); + const Scalar PI = Scalar(EIGEN_PI); - if (positiveRangeBeta) - { - betaRangeStart = Scalar(0); - betaRangeEnd = Scalar(2 * EIGEN_PI); - } - else - { - betaRangeStart = -Scalar(EIGEN_PI); - betaRangeEnd = Scalar(EIGEN_PI); - } - - if (positiveRangeGamma) + Scalar betaRangeStart, betaRangeEnd; + if (EulerSystem::IsTaitBryan) { - gammaRangeStart = Scalar(0); - gammaRangeEnd = Scalar(2 * EIGEN_PI); + betaRangeStart = -HALF_PI; + betaRangeEnd = HALF_PI; } else { - gammaRangeStart = -Scalar(EIGEN_PI); - gammaRangeEnd = Scalar(EIGEN_PI); + betaRangeStart = -PI; + betaRangeEnd = PI; } - const int i = EulerSystem::AlphaAxisAbs - 1; - const int j = EulerSystem::BetaAxisAbs - 1; - const int k = EulerSystem::GammaAxisAbs - 1; - - const int iFactor = EulerSystem::IsAlphaOpposite ? -1 : 1; - const int jFactor = EulerSystem::IsBetaOpposite ? -1 : 1; - const int kFactor = EulerSystem::IsGammaOpposite ? -1 : 1; - const Vector3 I = EulerAnglesType::AlphaAxisVector(); const Vector3 J = EulerAnglesType::BetaAxisVector(); const Vector3 K = EulerAnglesType::GammaAxisVector(); EulerAnglesType e(ea[0], ea[1], ea[2]); - + Matrix3 m(e); - Vector3 eabis = EulerAnglesType(m, positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma).angles(); + + Vector3 eabis = static_cast<EulerAnglesType>(m).angles(); // Check that eabis in range - VERIFY(alphaRangeStart <= eabis[0] && eabis[0] <= alphaRangeEnd); - VERIFY(betaRangeStart <= eabis[1] && eabis[1] <= betaRangeEnd); - VERIFY(gammaRangeStart <= eabis[2] && eabis[2] <= gammaRangeEnd); - - Vector3 eabis2 = m.eulerAngles(i, j, k); - - // Invert the relevant axes - eabis2[0] *= iFactor; - eabis2[1] *= jFactor; - eabis2[2] *= kFactor; - - // Saturate the angles to the correct range - if (positiveRangeAlpha && (eabis2[0] < 0)) - eabis2[0] += Scalar(2 * EIGEN_PI); - if (positiveRangeBeta && (eabis2[1] < 0)) - eabis2[1] += Scalar(2 * EIGEN_PI); - if (positiveRangeGamma && (eabis2[2] < 0)) - eabis2[2] += Scalar(2 * EIGEN_PI); - - VERIFY_IS_APPROX(eabis, eabis2);// Verify that our estimation is the same as m.eulerAngles() is - + VERIFY_APPROXED_RANGE(-PI, eabis[0], PI); + VERIFY_APPROXED_RANGE(betaRangeStart, eabis[1], betaRangeEnd); + VERIFY_APPROXED_RANGE(-PI, eabis[2], PI); + Matrix3 mbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K)); VERIFY_IS_APPROX(m, mbis); - - // Tests that are only relevant for no possitive range - if (!(positiveRangeAlpha || positiveRangeBeta || positiveRangeGamma)) + + // Test if ea and eabis are the same + // Need to check both singular and non-singular cases + // There are two singular cases. + // 1. When I==K and sin(ea(1)) == 0 + // 2. When I!=K and cos(ea(1)) == 0 + + // Tests that are only relevant for no positive range + /*if (!(positiveRangeAlpha || positiveRangeGamma)) { - /* If I==K, and ea[1]==0, then there no unique solution. */ - /* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */ + // If I==K, and ea[1]==0, then there no unique solution. + // The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(EIGEN_PI/2),test_precision<Scalar>())) ) VERIFY((ea-eabis).norm() <= test_precision<Scalar>()); // approx_or_less_than does not work for 0 - VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1))); - } + VERIFY(0 < eabis[0] || VERIFY_IS_MUCH_SMALLER_THAN(eabis[0], Scalar(1))); + }*/ // Quaternions QuaternionType q(e); - eabis = EulerAnglesType(q, positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma).angles(); - VERIFY_IS_APPROX(eabis, eabis2);// Verify that the euler angles are still the same -} - -template<typename EulerSystem, typename Scalar> -void verify_euler(const Matrix<Scalar,3,1>& ea) -{ - verify_euler_ranged<EulerSystem>(ea, false, false, false); - verify_euler_ranged<EulerSystem>(ea, false, false, true); - verify_euler_ranged<EulerSystem>(ea, false, true, false); - verify_euler_ranged<EulerSystem>(ea, false, true, true); - verify_euler_ranged<EulerSystem>(ea, true, false, false); - verify_euler_ranged<EulerSystem>(ea, true, false, true); - verify_euler_ranged<EulerSystem>(ea, true, true, false); - verify_euler_ranged<EulerSystem>(ea, true, true, true); + eabis = static_cast<EulerAnglesType>(q).angles(); + QuaternionType qbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K)); + VERIFY_IS_APPROX(std::abs(q.dot(qbis)), ONE); + //VERIFY_IS_APPROX(eabis, eabis2);// Verify that the euler angles are still the same } template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) @@ -150,6 +105,8 @@ template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) verify_euler<EulerSystemZXZ>(ea); verify_euler<EulerSystemZYX>(ea); verify_euler<EulerSystemZYZ>(ea); + + // TODO: Test negative axes as well! (only test if the angles get negative when needed) } template<typename Scalar> void eulerangles() |