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89 lines
2.5 KiB
C++
89 lines
2.5 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> void check_all_var(const Matrix<Scalar,3,1>& ea)
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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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#define VERIFY_EULER(I,J,K, X,Y,Z) { \
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Matrix3 m(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
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Vector3 eabis = m.eulerAngles(I,J,K); \
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Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit##X()) * AngleAxisx(eabis[1], Vector3::Unit##Y()) * AngleAxisx(eabis[2], Vector3::Unit##Z())); \
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VERIFY_IS_APPROX(m, mbis); \
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if(I!=K || ea[1]!=0) VERIFY_IS_APPROX(ea, eabis); \
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}
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VERIFY_EULER(0,1,2, X,Y,Z);
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VERIFY_EULER(0,1,0, X,Y,X);
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VERIFY_EULER(0,2,1, X,Z,Y);
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VERIFY_EULER(0,2,0, X,Z,X);
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VERIFY_EULER(1,2,0, Y,Z,X);
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VERIFY_EULER(1,2,1, Y,Z,Y);
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VERIFY_EULER(1,0,2, Y,X,Z);
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VERIFY_EULER(1,0,1, Y,X,Y);
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VERIFY_EULER(2,0,1, Z,X,Y);
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VERIFY_EULER(2,0,2, Z,X,Z);
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VERIFY_EULER(2,1,0, Z,Y,X);
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VERIFY_EULER(2,1,2, Z,Y,Z);
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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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ea = (Array3::Random() + Array3(1,1,0))*Scalar(M_PI)*Array3(0.5,0.5,1);
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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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