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Add isApprox() and cast() functions.

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test cases included
This commit is contained in:
Tal Hadad 2016-10-17 22:23:47 +03:00
parent 7402cfd4cc
commit 6f4f12d1ed
2 changed files with 42 additions and 2 deletions
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20
unsupported/Eigen/src/EulerAngles/EulerAngles.h
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@ -105,8 +105,11 @@ namespace Eigen
class EulerAngles : public RotationBase<EulerAngles<_Scalar, _System>, 3>
{
public:
typedef RotationBase<EulerAngles<_Scalar, _System>, 3> Base;
/** the scalar type of the angles */
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
/** the EulerSystem to use, which represents the axes of rotation. */
typedef _System System;
@ -248,7 +251,13 @@ namespace Eigen
return *this;
}
// TODO: Support isApprox function
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const EulerAngles& other,
const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
{ return angles().isApprox(other.angles(), prec); }
/** \returns an equivalent 3x3 rotation matrix. */
Matrix3 toRotationMatrix() const
@ -271,6 +280,15 @@ namespace Eigen
s << eulerAngles.angles().transpose();
return s;
}
/** \returns \c *this with scalar type casted to \a NewScalarType */
template <typename NewScalarType>
EulerAngles<NewScalarType, System> cast() const
{
EulerAngles<NewScalarType, System> e;
e.angles() = angles().cast<NewScalarType>();
return e;
}
};
#define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \

24
unsupported/test/EulerAngles.cpp
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@ -13,6 +13,13 @@
using namespace Eigen;
// Unfortunately, we need to specialize it in order to work. (We could add it in main.h test framework)
template <typename Scalar, class System>
bool verifyIsApprox(const Eigen::EulerAngles<Scalar, System>& a, const Eigen::EulerAngles<Scalar, System>& b)
{
return verifyIsApprox(a.angles(), b.angles());
}
// Verify that x is in the approxed range [a, b]
#define VERIFY_APPROXED_RANGE(a, x, b) \
do { \
@ -24,7 +31,7 @@ const char X = EULER_X;
const char Y = EULER_Y;
const char Z = EULER_Z;
template<typename Scalar, typename EulerSystem>
template<typename Scalar, class EulerSystem>
void verify_euler(const EulerAngles<Scalar, EulerSystem>& e)
{
typedef EulerAngles<Scalar, EulerSystem> EulerAnglesType;
@ -68,6 +75,11 @@ void verify_euler(const EulerAngles<Scalar, EulerSystem>& e)
const Vector3 I = EulerAnglesType::AlphaAxisVector();
const Vector3 J = EulerAnglesType::BetaAxisVector();
const Vector3 K = EulerAnglesType::GammaAxisVector();
// Is approx checks
VERIFY(e.isApprox(e));
VERIFY_IS_APPROX(e, e);
VERIFY_IS_NOT_APPROX(e, EulerAnglesType(e.alpha() + ONE, e.beta() + ONE, e.gamma() + ONE));
const Matrix3 m(e);
VERIFY_IS_APPROX(Scalar(m.determinant()), ONE);
@ -108,6 +120,11 @@ void verify_euler(const EulerAngles<Scalar, EulerSystem>& e)
const QuaternionType qbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K));
VERIFY(internal::isApprox<Scalar>(std::abs(q.dot(qbis)), ONE, precision));
//VERIFY_IS_APPROX(eabis, eabis2);// Verify that the euler angles are still the same
// A suggestion for simple product test when will be supported.
/*EulerAnglesType e2(PI/2, PI/2, PI/2);
Matrix3 m2(e2);
VERIFY_IS_APPROX(e*e2, m*m2);*/
}
template<signed char A, signed char B, signed char C, typename Scalar>
@ -250,6 +267,11 @@ template<typename Scalar> void eulerangles_rand()
void test_EulerAngles()
{
// Simple cast test
EulerAnglesXYZd onesEd(1, 1, 1);
EulerAnglesXYZf onesEf = onesEd.cast<float>();
VERIFY_IS_APPROX(onesEd, onesEf.cast<double>());
CALL_SUBTEST_1( eulerangles_manual<float>() );
CALL_SUBTEST_2( eulerangles_manual<double>() );