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113 lines
3.4 KiB
C++
113 lines
3.4 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "main.h"
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#include <Eigen/Geometry>
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#include <Eigen/LU>
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#include <Eigen/SVD>
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template<typename Scalar>
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void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int k)
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{
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef AngleAxis<Scalar> AngleAxisx;
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using std::abs;
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Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
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Vector3 eabis = m.eulerAngles(i, j, k);
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Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
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VERIFY_IS_APPROX(m, mbis);
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/* If I==K, and ea[1]==0, then there no unique solution. */
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/* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
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if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(M_PI/2),test_precision<Scalar>())) )
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VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
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// approx_or_less_than does not work for 0
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VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
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VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(M_PI));
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VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[1]);
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VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(M_PI));
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VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[2]);
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VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(M_PI));
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}
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template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
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{
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verify_euler(ea, 0,1,2);
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verify_euler(ea, 0,1,0);
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verify_euler(ea, 0,2,1);
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verify_euler(ea, 0,2,0);
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verify_euler(ea, 1,2,0);
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verify_euler(ea, 1,2,1);
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verify_euler(ea, 1,0,2);
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verify_euler(ea, 1,0,1);
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verify_euler(ea, 2,0,1);
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verify_euler(ea, 2,0,2);
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verify_euler(ea, 2,1,0);
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verify_euler(ea, 2,1,2);
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}
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template<typename Scalar> void eulerangles()
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{
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Array<Scalar,3,1> Array3;
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typedef Quaternion<Scalar> Quaternionx;
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typedef AngleAxis<Scalar> AngleAxisx;
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Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
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Quaternionx q1;
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q1 = AngleAxisx(a, Vector3::Random().normalized());
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Matrix3 m;
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m = q1;
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Vector3 ea = m.eulerAngles(0,1,2);
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check_all_var(ea);
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ea = m.eulerAngles(0,1,0);
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check_all_var(ea);
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// Check with purely random Quaternion:
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q1.coeffs() = Quaternionx::Coefficients::Random().normalized();
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m = q1;
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ea = m.eulerAngles(0,1,2);
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check_all_var(ea);
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ea = m.eulerAngles(0,1,0);
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check_all_var(ea);
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// Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi].
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ea = (Array3::Random() + Array3(1,0,0))*Scalar(M_PI)*Array3(0.5,1,1);
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check_all_var(ea);
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ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(M_PI));
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check_all_var(ea);
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ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(M_PI));
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check_all_var(ea);
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ea[1] = 0;
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check_all_var(ea);
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ea.head(2).setZero();
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check_all_var(ea);
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ea.setZero();
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check_all_var(ea);
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}
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void test_geo_eulerangles()
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{
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for(int i = 0; i < g_repeat; i++) {
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CALL_SUBTEST_1( eulerangles<float>() );
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CALL_SUBTEST_2( eulerangles<double>() );
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}
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}
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