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71 lines
2.4 KiB
C++
71 lines
2.4 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) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.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 eulerangles(void)
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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 a = ei_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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#define VERIFY_EULER(I,J,K, X,Y,Z) { \
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Vector3 ea = m.eulerAngles(I,J,K); \
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Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
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VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
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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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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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