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Fix a bug discovered in Avogadro: the AngleAxis*Matrix and the newer

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AngleAxis*Vector products were wrong because they returned the product
_expression_
   toRotationMatrix()*other;
and toRotationMatrix() died before that expression would be later
evaluated. Here it would not have been practical to NestByValue as this
is a whole matrix. So, let them simply evaluate and return the result by
value.

The geometry.cpp unit-test only checked for compatibility between
various rotations, it didn't check the correctness of the rotations
themselves. That's why this bug escaped us. So, this commit checks that
the rotations produced by AngleAxis have all the expected properties.
Since the compatibility with the other rotations is already checked,
this should validate them as well.
This commit is contained in:
Benoit Jacob 2008-08-24 23:16:51 +00:00
parent aa54d6bef0
commit 5ac883b10a
2 changed files with 12 additions and 5 deletions
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6
Eigen/src/Geometry/AngleAxis.h
View File

@ -95,17 +95,17 @@ public:
{ return a * QuaternionType(b); }
/** Concatenates two rotations */
inline typename ProductReturnType<Matrix3,Matrix3>::Type
inline Matrix3
operator* (const Matrix3& other) const
{ return toRotationMatrix() * other; }
/** Concatenates two rotations */
inline friend typename ProductReturnType<Matrix3,Matrix3>::Type
inline friend Matrix3
operator* (const Matrix3& a, const AngleAxis& b)
{ return a * b.toRotationMatrix(); }
/** Applies rotation to vector */
inline typename ProductReturnType<Matrix3,Vector3>::Type
inline Vector3
operator* (const Vector3& other) const
{ return toRotationMatrix() * other; }

11
test/geometry.cpp
View File

@ -65,8 +65,15 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1));
q1 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized());
q2 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());
VERIFY_IS_APPROX(v0, AngleAxis(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxis(M_PI, v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(cos(a)*v0.norm2(), v0.dot(AngleAxis(a, v0.unitOrthogonal()) * v0));
m = AngleAxis(a, v0.normalized()).toRotationMatrix().adjoint();
VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxis(a, v0.normalized()));
VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxis(a, v0.normalized()) * m);
q1 = AngleAxis(a, v0.normalized());
q2 = AngleAxis(a, v1.normalized());
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);