diff options
| -rw-r--r-- | Eigen/src/Geometry/Quaternion.h | 16 | ||||
| -rw-r--r-- | test/geo_quaternion.cpp | 42 |
2 files changed, 39 insertions, 19 deletions
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h index 26d434b36..e7801abf9 100644 --- a/Eigen/src/Geometry/Quaternion.h +++ b/Eigen/src/Geometry/Quaternion.h @@ -305,29 +305,19 @@ typedef Quaternion<double> Quaterniond; namespace internal { template<typename _Scalar, int _Options> - struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, _Options> > + struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > { - typedef _Scalar Scalar; typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients; - - typedef traits<Quaternion<_Scalar, _Options> > TraitsBase; - enum { - IsAligned = TraitsBase::IsAligned, - Flags = TraitsBase::Flags - }; }; } namespace internal { template<typename _Scalar, int _Options> - struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar> > + struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > { - typedef _Scalar Scalar; typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients; - - typedef traits<Quaternion<_Scalar, _Options> > TraitsBase; + typedef traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > TraitsBase; enum { - IsAligned = TraitsBase::IsAligned, Flags = TraitsBase::Flags & ~LvalueBit }; }; diff --git a/test/geo_quaternion.cpp b/test/geo_quaternion.cpp index c3fceafdf..568a5f582 100644 --- a/test/geo_quaternion.cpp +++ b/test/geo_quaternion.cpp @@ -172,23 +172,36 @@ template<typename Scalar, int Options> void quaternion(void) template<typename Scalar> void mapQuaternion(void){ typedef Map<Quaternion<Scalar>, Aligned> MQuaternionA; + typedef Map<const Quaternion<Scalar>, Aligned> MCQuaternionA; typedef Map<Quaternion<Scalar> > MQuaternionUA; typedef Map<const Quaternion<Scalar> > MCQuaternionUA; typedef Quaternion<Scalar> Quaternionx; + typedef Matrix<Scalar,3,1> Vector3; + typedef AngleAxis<Scalar> AngleAxisx; + + Vector3 v0 = Vector3::Random(), + v1 = Vector3::Random(); + Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); EIGEN_ALIGN16 Scalar array1[4]; EIGEN_ALIGN16 Scalar array2[4]; EIGEN_ALIGN16 Scalar array3[4+1]; Scalar* array3unaligned = array3+1; + + MQuaternionA mq1(array1); + MCQuaternionA mcq1(array1); + MQuaternionA mq2(array2); + MQuaternionUA mq3(array3unaligned); + MCQuaternionUA mcq3(array3unaligned); // std::cerr << array1 << " " << array2 << " " << array3 << "\n"; - MQuaternionA(array1).coeffs().setRandom(); - (MQuaternionA(array2)) = MQuaternionA(array1); - (MQuaternionUA(array3unaligned)) = MQuaternionA(array1); + mq1 = AngleAxisx(a, v0.normalized()); + mq2 = mq1; + mq3 = mq1; - Quaternionx q1 = MQuaternionA(array1); - Quaternionx q2 = MQuaternionA(array2); - Quaternionx q3 = MQuaternionUA(array3unaligned); + Quaternionx q1 = mq1; + Quaternionx q2 = mq2; + Quaternionx q3 = mq3; Quaternionx q4 = MCQuaternionUA(array3unaligned); VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs()); @@ -198,6 +211,23 @@ template<typename Scalar> void mapQuaternion(void){ if(internal::packet_traits<Scalar>::Vectorizable) VERIFY_RAISES_ASSERT((MQuaternionA(array3unaligned))); #endif + + VERIFY_IS_APPROX(mq1 * (mq1.inverse() * v1), v1); + VERIFY_IS_APPROX(mq1 * (mq1.conjugate() * v1), v1); + + VERIFY_IS_APPROX(mcq1 * (mcq1.inverse() * v1), v1); + VERIFY_IS_APPROX(mcq1 * (mcq1.conjugate() * v1), v1); + + VERIFY_IS_APPROX(mq3 * (mq3.inverse() * v1), v1); + VERIFY_IS_APPROX(mq3 * (mq3.conjugate() * v1), v1); + + VERIFY_IS_APPROX(mcq3 * (mcq3.inverse() * v1), v1); + VERIFY_IS_APPROX(mcq3 * (mcq3.conjugate() * v1), v1); + + VERIFY_IS_APPROX(mq1*mq2, q1*q2); + VERIFY_IS_APPROX(mq3*mq2, q3*q2); + VERIFY_IS_APPROX(mcq1*mq2, q1*q2); + VERIFY_IS_APPROX(mcq3*mq2, q3*q2); } template<typename Scalar> void quaternionAlignment(void){ |