diff options
| -rw-r--r-- | Eigen/src/Geometry/EulerAngles.h | 2 | ||||
| -rw-r--r-- | test/geo_eulerangles.cpp | 67 |
2 files changed, 45 insertions, 24 deletions
diff --git a/Eigen/src/Geometry/EulerAngles.h b/Eigen/src/Geometry/EulerAngles.h index 97984d590..82802fb43 100644 --- a/Eigen/src/Geometry/EulerAngles.h +++ b/Eigen/src/Geometry/EulerAngles.h @@ -28,7 +28,7 @@ namespace Eigen { * * AngleAxisf(ea[2], Vector3f::UnitZ()); \endcode * This corresponds to the right-multiply conventions (with right hand side frames). * - * The returned angles are in the ranges [0:pi]x[0:pi]x[-pi:pi]. + * The returned angles are in the ranges [0:pi]x[-pi:pi]x[-pi:pi]. * * \sa class AngleAxis */ diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp index 5445cd81a..b4830bd41 100644 --- a/test/geo_eulerangles.cpp +++ b/test/geo_eulerangles.cpp @@ -12,36 +12,48 @@ #include <Eigen/LU> #include <Eigen/SVD> -template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) + +template<typename Scalar> +void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int k) { typedef Matrix<Scalar,3,3> Matrix3; typedef Matrix<Scalar,3,1> Vector3; typedef AngleAxis<Scalar> AngleAxisx; using std::abs; + Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k))); + Vector3 eabis = m.eulerAngles(i, j, k); + Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k))); + VERIFY_IS_APPROX(m, mbis); + /* 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(M_PI/2),test_precision<Scalar>())) ) + VERIFY((ea-eabis).norm() <= test_precision<Scalar>()); - #define VERIFY_EULER(I,J,K, X,Y,Z) { \ - Matrix3 m(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \ - Vector3 eabis = m.eulerAngles(I,J,K); \ - Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit##X()) * AngleAxisx(eabis[1], Vector3::Unit##Y()) * AngleAxisx(eabis[2], Vector3::Unit##Z())); \ - VERIFY_IS_APPROX(m, mbis); \ - /* 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(M_PI/2),test_precision<Scalar>())) ) VERIFY((ea-eabis).norm() <= test_precision<Scalar>()); \ - } - VERIFY_EULER(0,1,2, X,Y,Z); - VERIFY_EULER(0,1,0, X,Y,X); - VERIFY_EULER(0,2,1, X,Z,Y); - VERIFY_EULER(0,2,0, X,Z,X); + // approx_or_less_than does not work for 0 + VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1))); + VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(M_PI)); + VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[1]); + VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(M_PI)); + VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[2]); + VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(M_PI)); +} + +template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) +{ + verify_euler(ea, 0,1,2); + verify_euler(ea, 0,1,0); + verify_euler(ea, 0,2,1); + verify_euler(ea, 0,2,0); - VERIFY_EULER(1,2,0, Y,Z,X); - VERIFY_EULER(1,2,1, Y,Z,Y); - VERIFY_EULER(1,0,2, Y,X,Z); - VERIFY_EULER(1,0,1, Y,X,Y); + verify_euler(ea, 1,2,0); + verify_euler(ea, 1,2,1); + verify_euler(ea, 1,0,2); + verify_euler(ea, 1,0,1); - VERIFY_EULER(2,0,1, Z,X,Y); - VERIFY_EULER(2,0,2, Z,X,Z); - VERIFY_EULER(2,1,0, Z,Y,X); - VERIFY_EULER(2,1,2, Z,Y,Z); + verify_euler(ea, 2,0,1); + verify_euler(ea, 2,0,2); + verify_euler(ea, 2,1,0); + verify_euler(ea, 2,1,2); } template<typename Scalar> void eulerangles() @@ -63,7 +75,16 @@ template<typename Scalar> void eulerangles() ea = m.eulerAngles(0,1,0); check_all_var(ea); - ea = (Array3::Random() + Array3(1,1,0))*Scalar(M_PI)*Array3(0.5,0.5,1); + // Check with purely random Quaternion: + q1.coeffs() = Quaternionx::Coefficients::Random().normalized(); + m = q1; + ea = m.eulerAngles(0,1,2); + check_all_var(ea); + ea = m.eulerAngles(0,1,0); + check_all_var(ea); + + // Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi]. + ea = (Array3::Random() + Array3(1,0,0))*Scalar(M_PI)*Array3(0.5,1,1); check_all_var(ea); ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(M_PI)); |