From 6752a69aa521d4a0979d575af79b4acfd54dd089 Mon Sep 17 00:00:00 2001
From: Tal Hadad <tal_hd@hotmail.com>
Date: Sun, 20 Dec 2015 12:49:12 +0200
Subject: Much better tests, and a little bit more functionality.

---
 unsupported/test/EulerAngles.cpp | 121 ++++++++++++++++++++++++++++++++++++++-
 1 file changed, 119 insertions(+), 2 deletions(-)

(limited to 'unsupported/test/EulerAngles.cpp')

diff --git a/unsupported/test/EulerAngles.cpp b/unsupported/test/EulerAngles.cpp
index d03db1ac3..57a34776a 100644
--- a/unsupported/test/EulerAngles.cpp
+++ b/unsupported/test/EulerAngles.cpp
@@ -11,8 +11,125 @@
 
 #include <unsupported/Eigen/EulerAngles>
 
-void test_EulerAngles()
+using namespace Eigen;
+
+template<typename EulerSystem, typename Scalar>
+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 AngleAxis<Scalar> AngleAxisx;
+  using std::abs;
+  
+  const int i = EulerSystem::HeadingAxisAbs - 1;
+  const int j = EulerSystem::PitchAxisAbs - 1;
+  const int k = EulerSystem::RollAxisAbs - 1;
+  
+  const int iFactor = EulerSystem::IsHeadingOpposite ? -1 : 1;
+  const int jFactor = EulerSystem::IsPitchOpposite ? -1 : 1;
+  const int kFactor = EulerSystem::IsRollOpposite ? -1 : 1;
+  
+  const Vector3 I = EulerAnglesType::HeadingAxisVector();
+  const Vector3 J = EulerAnglesType::PitchAxisVector();
+  const Vector3 K = EulerAnglesType::RollAxisVector();
+  
+  EulerAnglesType e(ea[0], ea[1], ea[2]);
+  
+  Matrix3 m(e);
+  Vector3 eabis = EulerAnglesType(m).coeffs();
+  Vector3 eabis2 = m.eulerAngles(i, j, k);
+  eabis2[0] *= iFactor;
+  eabis2[1] *= jFactor;
+  eabis2[2] *= kFactor;
+  
+  VERIFY_IS_APPROX(eabis, eabis2);// Verify that our estimation is the same as m.eulerAngles() is
+  
+  Matrix3 mbis(AngleAxisx(eabis[0], I) * AngleAxisx(eabis[1], J) * AngleAxisx(eabis[2], K));
+  VERIFY_IS_APPROX(m,  mbis);
+  /* 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)));
+  VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
+  VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[1]);
+  VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI));
+  VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]);
+  VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI));
+}
+
+template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
+{
+  verify_euler<EulerSystemXYZ, Scalar>(ea);
+  verify_euler<EulerSystemXYX, Scalar>(ea);
+  verify_euler<EulerSystemXZY, Scalar>(ea);
+  verify_euler<EulerSystemXZX, Scalar>(ea);
+  
+  verify_euler<EulerSystemYZX, Scalar>(ea);
+  verify_euler<EulerSystemYZY, Scalar>(ea);
+  verify_euler<EulerSystemYXZ, Scalar>(ea);
+  verify_euler<EulerSystemYXY, Scalar>(ea);
+  
+  verify_euler<EulerSystemZXY, Scalar>(ea);
+  verify_euler<EulerSystemZXZ, Scalar>(ea);
+  verify_euler<EulerSystemZYX, Scalar>(ea);
+  verify_euler<EulerSystemZYZ, Scalar>(ea);
+}
+
+template<typename Scalar> void eulerangles()
 {
-  //CALL_SUBTEST( test_return_by_value(32) );
+  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(EIGEN_PI), Scalar(EIGEN_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);
+  
+  // 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>() );
+  }
 }
-- 
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