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| author |  Chen-Pang He <jdh8@ms63.hinet.net> | 2013-07-14 02:00:50 +0800 |
|---|---|---|
| committer | Chen-Pang He <jdh8@ms63.hinet.net> | 2013-07-14 02:00:50 +0800 |
| commit | eeb744dc8d8608df22d3e8c512f42fb507f402ae (patch) | |
| tree | 9db978f34667cce0bb2a1f3f482b0ce85a550930 /unsupported/test/matrix_power.cpp | |
| parent | d5501d3a90c954a901fe95e654f4195744179831 (diff) | |
Add test3dRotation.
Diffstat (limited to 'unsupported/test/matrix_power.cpp')
| -rw-r--r-- | unsupported/test/matrix_power.cpp | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/unsupported/test/matrix_power.cpp b/unsupported/test/matrix_power.cpp index b9b72b528..8e33d6038 100644 --- a/unsupported/test/matrix_power.cpp +++ b/unsupported/test/matrix_power.cpp @@ -82,6 +82,20 @@ void test2dHyperbolicRotation(double tol) } } +template<typename T> +void test3dRotation(double tol) +{ + Matrix<T,3,1> v; + T angle; + + for (int i=0; i<=20; ++i) { + v = Matrix<T,3,1>::Random(); + v.normalize(); + angle = pow(10, (i-10) / 5.); + VERIFY(AngleAxis<T>(angle, v).matrix().isApprox(AngleAxis<T>(1,v).matrix().pow(angle), tol)); + } +} + template<typename MatrixType> void testGeneral(const MatrixType& m, double tol) { @@ -156,6 +170,7 @@ void testLogThenExp(MatrixType m, double tol) } typedef Matrix<double,3,3,RowMajor> Matrix3dRowMajor; +typedef Matrix<long double,3,3> Matrix3e; typedef Matrix<long double,Dynamic,Dynamic> MatrixXe; void test_matrix_power() @@ -167,6 +182,10 @@ void test_matrix_power() CALL_SUBTEST_1(test2dHyperbolicRotation<float>(1e-5)); CALL_SUBTEST_9(test2dHyperbolicRotation<long double>(1e-14)); + CALL_SUBTEST_10(test3dRotation<double>(1e-13)); + CALL_SUBTEST_11(test3dRotation<float>(1e-5)); + CALL_SUBTEST_12(test3dRotation<long double>(1e-13)); + CALL_SUBTEST_2(testGeneral(Matrix2d(), 1e-13)); CALL_SUBTEST_7(testGeneral(Matrix3dRowMajor(), 1e-13)); CALL_SUBTEST_3(testGeneral(Matrix4cd(), 1e-13)); @@ -176,6 +195,9 @@ void test_matrix_power() CALL_SUBTEST_8(testGeneral(Matrix4f(), 1e-4)); CALL_SUBTEST_6(testGeneral(MatrixXf(2,2), 1e-3)); // see bug 614 CALL_SUBTEST_9(testGeneral(MatrixXe(7,7), 1e-13)); + CALL_SUBTEST_10(testGeneral(Matrix3d(), 1e-13)); + CALL_SUBTEST_11(testGeneral(Matrix3f(), 1e-4)); + CALL_SUBTEST_12(testGeneral(Matrix3e(), 1e-13)); CALL_SUBTEST_2(testSingular(Matrix2d(), 1e-13)); CALL_SUBTEST_7(testSingular(Matrix3dRowMajor(), 1e-13)); @@ -186,6 +208,9 @@ void test_matrix_power() CALL_SUBTEST_8(testSingular(Matrix4f(), 1e-4)); CALL_SUBTEST_6(testSingular(MatrixXf(2,2), 1e-3)); CALL_SUBTEST_9(testSingular(MatrixXe(7,7), 1e-13)); + CALL_SUBTEST_10(testSingular(Matrix3d(), 1e-13)); + CALL_SUBTEST_11(testSingular(Matrix3f(), 1e-4)); + CALL_SUBTEST_12(testSingular(Matrix3e(), 1e-13)); CALL_SUBTEST_2(testLogThenExp(Matrix2d(), 1e-13)); CALL_SUBTEST_7(testLogThenExp(Matrix3dRowMajor(), 1e-13)); @@ -196,4 +221,7 @@ void test_matrix_power() CALL_SUBTEST_8(testLogThenExp(Matrix4f(), 1e-4)); CALL_SUBTEST_6(testLogThenExp(MatrixXf(2,2), 1e-3)); CALL_SUBTEST_9(testLogThenExp(MatrixXe(7,7), 1e-13)); + CALL_SUBTEST_10(testLogThenExp(Matrix3d(), 1e-13)); + CALL_SUBTEST_11(testLogThenExp(Matrix3f(), 1e-4)); + CALL_SUBTEST_12(testLogThenExp(Matrix3e(), 1e-13)); } |