mirror of
https://gitlab.com/libeigen/eigen.git
synced 2024-12-21 07:19:46 +08:00
89 lines
2.5 KiB
C++
89 lines
2.5 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
|
|
// for linear algebra.
|
|
//
|
|
// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
|
|
//
|
|
// This Source Code Form is subject to the terms of the Mozilla
|
|
// Public License v. 2.0. If a copy of the MPL was not distributed
|
|
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
|
|
|
#include "main.h"
|
|
#include <Eigen/Geometry>
|
|
#include <Eigen/LU>
|
|
#include <Eigen/SVD>
|
|
|
|
template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
|
|
{
|
|
typedef Matrix<Scalar,3,3> Matrix3;
|
|
typedef Matrix<Scalar,3,1> Vector3;
|
|
typedef AngleAxis<Scalar> AngleAxisx;
|
|
|
|
#define VERIFY_EULER(I,J,K, X,Y,Z) { \
|
|
Matrix3 m(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
|
|
Vector3 eabis = m.eulerAngles(I,J,K); \
|
|
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit##X()) * AngleAxisx(eabis[1], Vector3::Unit##Y()) * AngleAxisx(eabis[2], Vector3::Unit##Z())); \
|
|
VERIFY_IS_APPROX(m, mbis); \
|
|
if(I!=K || ea[1]!=0) VERIFY_IS_APPROX(ea, eabis); \
|
|
}
|
|
VERIFY_EULER(0,1,2, X,Y,Z);
|
|
VERIFY_EULER(0,1,0, X,Y,X);
|
|
VERIFY_EULER(0,2,1, X,Z,Y);
|
|
VERIFY_EULER(0,2,0, X,Z,X);
|
|
|
|
VERIFY_EULER(1,2,0, Y,Z,X);
|
|
VERIFY_EULER(1,2,1, Y,Z,Y);
|
|
VERIFY_EULER(1,0,2, Y,X,Z);
|
|
VERIFY_EULER(1,0,1, Y,X,Y);
|
|
|
|
VERIFY_EULER(2,0,1, Z,X,Y);
|
|
VERIFY_EULER(2,0,2, Z,X,Z);
|
|
VERIFY_EULER(2,1,0, Z,Y,X);
|
|
VERIFY_EULER(2,1,2, Z,Y,Z);
|
|
}
|
|
|
|
template<typename Scalar> void eulerangles(void)
|
|
{
|
|
typedef Matrix<Scalar,3,3> Matrix3;
|
|
typedef Matrix<Scalar,3,1> Vector3;
|
|
typedef Array<Scalar,3,1> Array3;
|
|
typedef Quaternion<Scalar> Quaternionx;
|
|
typedef AngleAxis<Scalar> AngleAxisx;
|
|
|
|
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
|
|
Quaternionx q1;
|
|
q1 = AngleAxisx(a, Vector3::Random().normalized());
|
|
Matrix3 m;
|
|
m = q1;
|
|
|
|
Vector3 ea = m.eulerAngles(0,1,2);
|
|
check_all_var(ea);
|
|
ea = m.eulerAngles(0,1,0);
|
|
check_all_var(ea);
|
|
|
|
ea = (Array3::Random() + Array3(1,1,0))*M_PI*Array3(0.5,0.5,1);
|
|
check_all_var(ea);
|
|
|
|
ea[2] = ea[0] = internal::random<Scalar>(0,M_PI);
|
|
check_all_var(ea);
|
|
|
|
ea[0] = ea[1] = internal::random<Scalar>(0,M_PI);
|
|
check_all_var(ea);
|
|
|
|
ea[1] = 0;
|
|
check_all_var(ea);
|
|
|
|
ea.head(2).setZero();
|
|
check_all_var(ea);
|
|
|
|
ea.setZero();
|
|
check_all_var(ea);
|
|
}
|
|
|
|
void test_geo_eulerangles()
|
|
{
|
|
for(int i = 0; i < g_repeat; i++) {
|
|
CALL_SUBTEST_1( eulerangles<float>() );
|
|
CALL_SUBTEST_2( eulerangles<double>() );
|
|
}
|
|
}
|