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Diffstat (limited to 'unsupported/test/EulerAngles.cpp')
| -rw-r--r-- | unsupported/test/EulerAngles.cpp | 208 |
1 files changed, 208 insertions, 0 deletions
diff --git a/unsupported/test/EulerAngles.cpp b/unsupported/test/EulerAngles.cpp new file mode 100644 index 000000000..a8cb52864 --- /dev/null +++ b/unsupported/test/EulerAngles.cpp @@ -0,0 +1,208 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2015 Tal Hadad <tal_hd@hotmail.com> +// +// 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 +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#include "main.h" + +#include <unsupported/Eigen/EulerAngles> + +using namespace Eigen; + +template<typename EulerSystem, typename Scalar> +void verify_euler_ranged(const Matrix<Scalar,3,1>& ea, + bool positiveRangeAlpha, bool positiveRangeBeta, bool positiveRangeGamma) +{ + 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); + } + + if (positiveRangeBeta) + { + betaRangeStart = Scalar(0); + betaRangeEnd = Scalar(2 * EIGEN_PI); + } + else + { + betaRangeStart = -Scalar(EIGEN_PI); + betaRangeEnd = Scalar(EIGEN_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(); + + EulerAnglesType e(ea[0], ea[1], ea[2]); + + Matrix3 m(e); + Vector3 eabis = EulerAnglesType(m, positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma).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); + + Vector3 eabis2 = m.eulerAngles(i, j, k); + + // Invert the relevant axes + eabis2[0] *= iFactor; + eabis2[1] *= jFactor; + eabis2[2] *= kFactor; + + // Saturate the angles to the correct range + if (positiveRangeAlpha && (eabis2[0] < 0)) + eabis2[0] += Scalar(2 * EIGEN_PI); + if (positiveRangeBeta && (eabis2[1] < 0)) + eabis2[1] += Scalar(2 * EIGEN_PI); + if (positiveRangeGamma && (eabis2[2] < 0)) + eabis2[2] += Scalar(2 * EIGEN_PI); + + VERIFY_IS_APPROX(eabis, eabis2);// Verify that our estimation is the same as m.eulerAngles() is + + Matrix3 mbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K)); + VERIFY_IS_APPROX(m, mbis); + + // Tests that are only relevant for no possitive range + if (!(positiveRangeAlpha || positiveRangeBeta || positiveRangeGamma)) + { + /* 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(EIGEN_PI/2),test_precision<Scalar>())) ) + 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))); + } + + // Quaternions + QuaternionType q(e); + eabis = EulerAnglesType(q, positiveRangeAlpha, positiveRangeBeta, positiveRangeGamma).angles(); + 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, false); + verify_euler_ranged<EulerSystem>(ea, false, false, true); + verify_euler_ranged<EulerSystem>(ea, false, true, false); + verify_euler_ranged<EulerSystem>(ea, false, true, true); + verify_euler_ranged<EulerSystem>(ea, true, false, false); + verify_euler_ranged<EulerSystem>(ea, true, false, true); + verify_euler_ranged<EulerSystem>(ea, true, true, false); + verify_euler_ranged<EulerSystem>(ea, true, true, true); +} + +template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea) +{ + verify_euler<EulerSystemXYZ>(ea); + verify_euler<EulerSystemXYX>(ea); + verify_euler<EulerSystemXZY>(ea); + verify_euler<EulerSystemXZX>(ea); + + verify_euler<EulerSystemYZX>(ea); + verify_euler<EulerSystemYZY>(ea); + verify_euler<EulerSystemYXZ>(ea); + verify_euler<EulerSystemYXY>(ea); + + verify_euler<EulerSystemZXY>(ea); + verify_euler<EulerSystemZXZ>(ea); + verify_euler<EulerSystemZYX>(ea); + verify_euler<EulerSystemZYZ>(ea); +} + +template<typename Scalar> void eulerangles() +{ + 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> AngleAxisType; + + Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); + Quaternionx q1; + q1 = AngleAxisType(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); + + // 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(EIGEN_PI)*Array3(0.5,1,1); + check_all_var(ea); + + ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(EIGEN_PI)); + check_all_var(ea); + + ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(EIGEN_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_EulerAngles() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_1( eulerangles<float>() ); + CALL_SUBTEST_2( eulerangles<double>() ); + } +} |