diff options
Diffstat (limited to 'test/geometry.cpp')
| -rw-r--r-- | test/geometry.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/test/geometry.cpp b/test/geometry.cpp index cb9726346..a87c8a2ad 100644 --- a/test/geometry.cpp +++ b/test/geometry.cpp @@ -48,6 +48,10 @@ template<typename Scalar> void geometry(void) typedef Translation<Scalar,2> Translation2; typedef Translation<Scalar,3> Translation3; + Scalar largeEps = test_precision<Scalar>(); + if (ei_is_same_type<Scalar,float>::ret) + largeEps = 1e-3f; + Quaternion q1, q2; Vector3 v0 = Vector3::Random(), v1 = Vector3::Random(), @@ -82,6 +86,12 @@ template<typename Scalar> void geometry(void) q1 = AngleAxis(a, v0.normalized()); q2 = AngleAxis(a, v1.normalized()); + // angular distance + Scalar refangle = ei_abs(AngleAxis(q1.inverse()*q2).angle()); + if (refangle>M_PI) + refangle = 2.*M_PI - refangle; + VERIFY(ei_isApprox(q1.angularDistance(q2), refangle, largeEps)); + // rotation matrix conversion VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2); VERIFY_IS_APPROX(q1 * q2 * v2, |