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* extractRotation ---> rotation

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* expand the geometry/Transform tests, after Mek's reports
* fix my own stupidity in eigensolver test
This commit is contained in:
Benoit Jacob 2008-12-19 14:52:03 +00:00
parent e4980616fd
commit 22875683b9
3 changed files with 37 additions and 5 deletions
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5
Eigen/src/Geometry/Transform.h
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@ -238,7 +238,8 @@ public:
template<typename Derived>
inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
LinearMatrixType extractRotation(TransformTraits traits = Affine) const;
EIGEN_DEPRECATED LinearMatrixType extractRotation(TransformTraits traits = Affine) const { return rotation(traits); }
LinearMatrixType rotation(TransformTraits traits = Affine) const;
template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
@ -600,7 +601,7 @@ inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase
*/
template<typename Scalar, int Dim>
typename Transform<Scalar,Dim>::LinearMatrixType
Transform<Scalar,Dim>::extractRotation(TransformTraits traits) const
Transform<Scalar,Dim>::rotation(TransformTraits traits) const
{
ei_assert(traits!=Projective && "you cannot extract a rotation from a non affine transformation");
if (traits == Affine)

4
test/eigensolver.cpp
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@ -109,8 +109,8 @@ template<typename MatrixType> void selfadjointeigensolver(const MatrixType& m)
symmB * (eiSymmGen.eigenvectors() * eiSymmGen.eigenvalues().asDiagonal().eval()), largerEps));
MatrixType sqrtSymmA = eiSymm.operatorSqrt();
VERIFY(symmA.isApprox(sqrtSymmA*sqrtSymmA, ei_sqrt(test_precision<RealScalar>())));
VERIFY(sqrtSymmA.isApprox(symmA*eiSymm.operatorInverseSqrt(), ei_sqrt(test_precision<RealScalar>())));
VERIFY_IS_APPROX(symmA, sqrtSymmA*sqrtSymmA);
VERIFY_IS_APPROX(sqrtSymmA, symmA*eiSymm.operatorInverseSqrt());
}
template<typename MatrixType> void eigensolver(const MatrixType& m)

33
test/geometry.cpp
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@ -177,6 +177,37 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
// More transform constructors and operator='s
Scalar a3 = ei_random<Scalar>(-M_PI, M_PI);
Vector3 v3 = Vector3::Random().normalized();
AngleAxisx aa3(a3, v3);
Transform3 t3(aa3);
Transform3 t4;
t4 = aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
t4.rotate(AngleAxisx(-a,v3));
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
v3 = Vector3::Random();
Translation3 tv3(v3);
Transform3 t5(tv3);
t4 = tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
t4.translate(-v3);
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
Scaling3 sv3(v3);
Transform3 t6(sv3);
t4 = sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
t4.scale(v3.cwise().inverse());
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
// chained Transform product
VERIFY_IS_APPROX(Transform3((t3*t4)*t5).matrix(), Transform3(t3*(t4*t5)).matrix());
// 2D transformation
Transform2 t20, t21;
Vector2 v20 = Vector2::Random();
@ -283,7 +314,7 @@ template<typename Scalar> void geometry(void)
// test extract rotation
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
VERIFY_IS_APPROX(t0.extractRotation(Affine) * v1, Matrix3(q1) * v1);
VERIFY_IS_APPROX(t0.rotation(Affine) * v1, Matrix3(q1) * v1);
// test casting
Transform<float,3> t1f = t1.template cast<float>();