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Stabilize eulerangle unit test.

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This commit is contained in:
Gael Guennebaud 2013-07-13 10:55:04 +02:00
parent 7ee378d89d
commit 06a5bcecf6
1 changed files with 4 additions and 1 deletions
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5
test/geo_eulerangles.cpp
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@ -17,13 +17,16 @@ template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef AngleAxis<Scalar> AngleAxisx;
using std::abs;
#define VERIFY_EULER(I,J,K, X,Y,Z) { \
Matrix3 m(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
Vector3 eabis = m.eulerAngles(I,J,K); \
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit##X()) * AngleAxisx(eabis[1], Vector3::Unit##Y()) * AngleAxisx(eabis[2], Vector3::Unit##Z())); \
VERIFY_IS_APPROX(m, mbis); \
if(I!=K || ea[1]!=0) VERIFY_IS_APPROX(ea, eabis); \
/* 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(M_PI/2),test_precision<Scalar>())) ) VERIFY((ea-eabis).norm() <= test_precision<Scalar>()); \
}
VERIFY_EULER(0,1,2, X,Y,Z);
VERIFY_EULER(0,1,0, X,Y,X);