diff options
Diffstat (limited to 'test/geo_eulerangles.cpp')
-rw-r--r-- | test/geo_eulerangles.cpp | 58 |
1 files changed, 46 insertions, 12 deletions
diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp index 9bf149d2a..26456beee 100644 --- a/test/geo_eulerangles.cpp +++ b/test/geo_eulerangles.cpp @@ -1,7 +1,7 @@ // This file is part of Eigen, a lightweight C++ template library // for linear algebra. // -// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr> +// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr> // // This Source Code Form is subject to the terms of the Mozilla // Public License v. 2.0. If a copy of the MPL was not distributed @@ -12,22 +12,18 @@ #include <Eigen/LU> #include <Eigen/SVD> -template<typename Scalar> void eulerangles(void) +template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) { typedef Matrix<Scalar,3,3> Matrix3; typedef Matrix<Scalar,3,1> Vector3; - typedef Quaternion<Scalar> Quaternionx; typedef AngleAxis<Scalar> AngleAxisx; - - Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); - Quaternionx q1; - q1 = AngleAxisx(a, Vector3::Random().normalized()); - Matrix3 m; - m = q1; - + #define VERIFY_EULER(I,J,K, X,Y,Z) { \ - Vector3 ea = m.eulerAngles(I,J,K); \ - VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##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 || ea[1]!=0) VERIFY_IS_APPROX(ea, eabis); \ } VERIFY_EULER(0,1,2, X,Y,Z); VERIFY_EULER(0,1,0, X,Y,X); @@ -45,6 +41,44 @@ template<typename Scalar> void eulerangles(void) VERIFY_EULER(2,1,2, Z,Y,Z); } +template<typename Scalar> void eulerangles(void) +{ + typedef Matrix<Scalar,3,3> Matrix3; + typedef Matrix<Scalar,3,1> Vector3; + typedef Array<Scalar,3,1> Array3; + typedef Quaternion<Scalar> Quaternionx; + typedef AngleAxis<Scalar> AngleAxisx; + + Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); + Quaternionx q1; + q1 = AngleAxisx(a, Vector3::Random().normalized()); + Matrix3 m; + m = q1; + + Vector3 ea = m.eulerAngles(0,1,2); + check_all_var(ea); + ea = m.eulerAngles(0,1,0); + check_all_var(ea); + + ea = (Array3::Random() + Array3(1,1,0))*M_PI*Array3(0.5,0.5,1); + check_all_var(ea); + + ea[2] = ea[0] = internal::random<Scalar>(0,M_PI); + check_all_var(ea); + + ea[0] = ea[1] = internal::random<Scalar>(0,M_PI); + check_all_var(ea); + + ea[1] = 0; + check_all_var(ea); + + ea.head(2).setZero(); + check_all_var(ea); + + ea.setZero(); + check_all_var(ea); +} + void test_geo_eulerangles() { for(int i = 0; i < g_repeat; i++) { |