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Fix false negatives in geo_transformations unit tests

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This commit is contained in:
Gael Guennebaud 2014-12-16 16:50:30 +01:00
parent 57ab550a17
commit 735f1fda39
1 changed files with 20 additions and 4 deletions
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24
test/geo_transformations.cpp
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@ -99,10 +99,17 @@ template<typename Scalar, int Mode, int Options> void transformations()
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar s0 = internal::random<Scalar>();
while(v0.norm() < test_precision<Scalar>()) v0 = Vector3::Random();
while(v1.norm() < test_precision<Scalar>()) v1 = Vector3::Random();
VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
if(abs(cos(a)) > test_precision<Scalar>())
{
VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
}
m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
@ -123,11 +130,18 @@ template<typename Scalar, int Mode, int Options> void transformations()
// angle-axis conversion
AngleAxisx aa = AngleAxisx(q1);
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
if(abs(aa.angle()) > NumTraits<Scalar>::dummy_precision())
{
VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
}
aa.fromRotationMatrix(aa.toRotationMatrix());
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
if(abs(aa.angle()) > NumTraits<Scalar>::dummy_precision())
{
VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
}
// AngleAxis
VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
@ -347,7 +361,9 @@ template<typename Scalar, int Mode, int Options> void transformations()
// test transform inversion
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
do {
t0.linear().setRandom();
} while(t0.linear().jacobiSvd().singularValues()(2)<test_precision<Scalar>());
Matrix4 t044 = Matrix4::Zero();
t044(3,3) = 1;
t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();