diff options
Diffstat (limited to 'unsupported/test/EulerAngles.cpp')
-rw-r--r-- | unsupported/test/EulerAngles.cpp | 86 |
1 files changed, 25 insertions, 61 deletions
diff --git a/unsupported/test/EulerAngles.cpp b/unsupported/test/EulerAngles.cpp index 4d0831dc2..8b4706686 100644 --- a/unsupported/test/EulerAngles.cpp +++ b/unsupported/test/EulerAngles.cpp @@ -13,62 +13,38 @@ using namespace Eigen; +// Verify that x is in the approxed range [a, b] +#define VERIFY_APPROXED_RANGE(a, x, b) \ + do { \ + VERIFY_IS_APPROX_OR_LESS_THAN(a, x); \ + VERIFY_IS_APPROX_OR_LESS_THAN(x, b); \ + } while(0) + template<typename EulerSystem, typename Scalar> -void verify_euler_ranged(const Matrix<Scalar,3,1>& ea, - bool positiveRangeAlpha, bool positiveRangeGamma) +void verify_euler(const Matrix<Scalar,3,1>& ea) { typedef EulerAngles<Scalar, EulerSystem> EulerAnglesType; typedef Matrix<Scalar,3,3> Matrix3; typedef Matrix<Scalar,3,1> Vector3; typedef Quaternion<Scalar> QuaternionType; typedef AngleAxis<Scalar> AngleAxisType; - using std::abs; - Scalar alphaRangeStart, alphaRangeEnd; - Scalar betaRangeStart, betaRangeEnd; - Scalar gammaRangeStart, gammaRangeEnd; - - if (positiveRangeAlpha) - { - alphaRangeStart = Scalar(0); - alphaRangeEnd = Scalar(2 * EIGEN_PI); - } - else - { - alphaRangeStart = -Scalar(EIGEN_PI); - alphaRangeEnd = Scalar(EIGEN_PI); - } + const Scalar ONE = Scalar(1); + const Scalar HALF_PI = Scalar(EIGEN_PI / 2); + const Scalar PI = Scalar(EIGEN_PI); + Scalar betaRangeStart, betaRangeEnd; if (EulerSystem::IsTaitBryan) { - betaRangeStart = -Scalar(EIGEN_PI / 2); - betaRangeEnd = Scalar(EIGEN_PI / 2); + betaRangeStart = -HALF_PI; + betaRangeEnd = HALF_PI; } else { - betaRangeStart = -Scalar(EIGEN_PI); - betaRangeEnd = Scalar(EIGEN_PI); + betaRangeStart = -PI; + betaRangeEnd = PI; } - if (positiveRangeGamma) - { - gammaRangeStart = Scalar(0); - gammaRangeEnd = Scalar(2 * EIGEN_PI); - } - else - { - gammaRangeStart = -Scalar(EIGEN_PI); - gammaRangeEnd = Scalar(EIGEN_PI); - } - - /*const int i = EulerSystem::AlphaAxisAbs - 1; - const int j = EulerSystem::BetaAxisAbs - 1; - const int k = EulerSystem::GammaAxisAbs - 1; - - const int iFactor = EulerSystem::IsAlphaOpposite ? -1 : 1; - const int jFactor = EulerSystem::IsBetaOpposite ? -1 : 1; - const int kFactor = EulerSystem::IsGammaOpposite ? -1 : 1;*/ - const Vector3 I = EulerAnglesType::AlphaAxisVector(); const Vector3 J = EulerAnglesType::BetaAxisVector(); const Vector3 K = EulerAnglesType::GammaAxisVector(); @@ -77,13 +53,12 @@ void verify_euler_ranged(const Matrix<Scalar,3,1>& ea, Matrix3 m(e); - - Vector3 eabis = EulerAnglesType(m, positiveRangeAlpha, positiveRangeGamma).angles(); + Vector3 eabis = static_cast<EulerAnglesType>(m).angles(); // Check that eabis in range - VERIFY(alphaRangeStart <= eabis[0] && eabis[0] <= alphaRangeEnd); - VERIFY(betaRangeStart <= eabis[1] && eabis[1] <= betaRangeEnd); - VERIFY(gammaRangeStart <= eabis[2] && eabis[2] <= gammaRangeEnd); + VERIFY_APPROXED_RANGE(-PI, eabis[0], PI); + VERIFY_APPROXED_RANGE(betaRangeStart, eabis[1], betaRangeEnd); + VERIFY_APPROXED_RANGE(-PI, eabis[2], PI); Matrix3 mbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K)); VERIFY_IS_APPROX(m, mbis); @@ -103,30 +78,17 @@ void verify_euler_ranged(const Matrix<Scalar,3,1>& ea, VERIFY((ea-eabis).norm() <= test_precision<Scalar>()); // approx_or_less_than does not work for 0 - VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1))); + VERIFY(0 < eabis[0] || VERIFY_IS_MUCH_SMALLER_THAN(eabis[0], Scalar(1))); }*/ // Quaternions QuaternionType q(e); - eabis = EulerAnglesType(q, positiveRangeAlpha, positiveRangeGamma).angles(); + eabis = static_cast<EulerAnglesType>(q).angles(); QuaternionType qbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K)); - VERIFY_IS_APPROX(std::abs(q.dot(qbis)), static_cast<Scalar>(1)); + VERIFY_IS_APPROX(std::abs(q.dot(qbis)), ONE); //VERIFY_IS_APPROX(eabis, eabis2);// Verify that the euler angles are still the same } -template<typename EulerSystem, typename Scalar> -void verify_euler(const Matrix<Scalar,3,1>& ea) -{ - verify_euler_ranged<EulerSystem>(ea, false, false); - verify_euler_ranged<EulerSystem>(ea, false, true); - verify_euler_ranged<EulerSystem>(ea, false, false); - verify_euler_ranged<EulerSystem>(ea, false, true); - verify_euler_ranged<EulerSystem>(ea, true, false); - verify_euler_ranged<EulerSystem>(ea, true, true); - verify_euler_ranged<EulerSystem>(ea, true, false); - verify_euler_ranged<EulerSystem>(ea, true, true); -} - template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) { verify_euler<EulerSystemXYZ>(ea); @@ -143,6 +105,8 @@ template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) verify_euler<EulerSystemZXZ>(ea); verify_euler<EulerSystemZYX>(ea); verify_euler<EulerSystemZYZ>(ea); + + // TODO: Test negative axes as well! (only test if the angles get negative when needed) } template<typename Scalar> void eulerangles() |