diff options
Diffstat (limited to 'test/geo_transformations.cpp')
| -rw-r--r-- | test/geo_transformations.cpp | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/test/geo_transformations.cpp b/test/geo_transformations.cpp index 1768d7b8a..e189217eb 100644 --- a/test/geo_transformations.cpp +++ b/test/geo_transformations.cpp @@ -98,7 +98,7 @@ template<typename Scalar, int Mode, int Options> void transformations() Matrix3 matrot1, m; Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); - Scalar s0 = internal::random<Scalar>(); + Scalar s0 = internal::random<Scalar>(), s1 = internal::random<Scalar>(); VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0); @@ -394,10 +394,21 @@ template<typename Scalar, int Mode, int Options> void transformations() Rotation2D<double> r2d1d = r2d1.template cast<double>(); VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1); - t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Eigen::Scaling(s0)); - t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Eigen::Scaling(s0); + Rotation2D<Scalar> R0(s0), R1(s1); + + t20 = Translation2(v20) * (R0 * Eigen::Scaling(s0)); + t21 = Translation2(v20) * R0 * Eigen::Scaling(s0); + VERIFY_IS_APPROX(t20,t21); + + t20 = Translation2(v20) * (R0 * R0.inverse() * Eigen::Scaling(s0)); + t21 = Translation2(v20) * Eigen::Scaling(s0); VERIFY_IS_APPROX(t20,t21); + VERIFY_IS_APPROX(s0, (R0.slerp(0, R1)).angle()); + VERIFY_IS_APPROX(s1, (R0.slerp(1, R1)).angle()); + VERIFY_IS_APPROX(s0, (R0.slerp(0.5, R0)).angle()); + VERIFY_IS_APPROX(Scalar(0), (R0.slerp(0.5, R0.inverse())).angle()); + // check basic features { Rotation2D<Scalar> r1; // default ctor |