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117 lines
3.9 KiB
C++
117 lines
3.9 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) 2008-2009 Gael Guennebaud <g.gael@free.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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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> void quaternion(void)
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{
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/* this test covers the following files:
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Quaternion.h
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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 Quaternion<Scalar> Quaternionx;
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typedef AngleAxis<Scalar> AngleAxisx;
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Scalar largeEps = test_precision<Scalar>();
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if (ei_is_same_type<Scalar,float>::ret)
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largeEps = 1e-3f;
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Scalar eps = ei_random<Scalar>() * 1e-2;
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Vector3 v0 = Vector3::Random(),
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v1 = Vector3::Random(),
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v2 = Vector3::Random(),
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v3 = Vector3::Random();
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Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
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// Quaternion: Identity(), setIdentity();
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Quaternionx q1, q2;
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q2.setIdentity();
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VERIFY_IS_APPROX(Quaternionx(Quaternionx::Identity()).coeffs(), q2.coeffs());
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q1.coeffs().setRandom();
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VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());
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q1 = AngleAxisx(a, v0.normalized());
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q2 = AngleAxisx(a, v1.normalized());
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// angular distance
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Scalar refangle = ei_abs(AngleAxisx(q1.inverse()*q2).angle());
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if (refangle>Scalar(M_PI))
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refangle = Scalar(2)*Scalar(M_PI) - refangle;
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if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)
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{
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VERIFY(ei_isApprox(q1.angularDistance(q2), refangle, largeEps));
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}
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// rotation matrix conversion
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VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
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VERIFY_IS_APPROX(q1 * q2 * v2,
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q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
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VERIFY( (q2*q1).isApprox(q1*q2, largeEps)
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|| !(q2 * q1 * v2).isApprox(q1.toRotationMatrix() * q2.toRotationMatrix() * v2));
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q2 = q1.toRotationMatrix();
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VERIFY_IS_APPROX(q1*v1,q2*v1);
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// angle-axis conversion
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AngleAxisx aa = q1;
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VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
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// from two vector creation
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VERIFY_IS_APPROX( v2.normalized(),(q2.setFromTwoVectors(v1, v2)*v1).normalized());
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VERIFY_IS_APPROX( v1.normalized(),(q2.setFromTwoVectors(v1, v1)*v1).normalized());
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VERIFY_IS_APPROX(-v1.normalized(),(q2.setFromTwoVectors(v1,-v1)*v1).normalized());
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v3 = v1.cwise()+eps;
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VERIFY_IS_APPROX( v3.normalized(),(q2.setFromTwoVectors(v1, v3)*v1).normalized());
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VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized());
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// inverse and conjugate
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VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
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VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
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// test casting
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Quaternion<float> q1f = q1.template cast<float>();
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VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);
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Quaternion<double> q1d = q1.template cast<double>();
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VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);
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}
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void test_geo_quaternion()
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{
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for(int i = 0; i < g_repeat; i++) {
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// CALL_SUBTEST( quaternion<float>() );
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CALL_SUBTEST( quaternion<double>() );
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}
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}
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