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Added MatrixBase::Unit*() static function to easily create unit/basis vectors.

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Removed EulerAngles, addes typdefs for Quaternion and AngleAxis,
and added automatic conversions from Quaternion/AngleAxis to Matrix3 such that:
 Matrix3f m = AngleAxisf(0.2,Vector3f::UnitX) * AngleAxisf(0.2,Vector3f::UnitY);
just works.
This commit is contained in:
Gael Guennebaud
2008-07-19 13:03:23 +00:00
parent 7245c63067
commit 05ad083467
11 changed files with 154 additions and 67 deletions
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14
test/geometry.cpp
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@@ -40,12 +40,12 @@ template<typename Scalar> void geometry(void)
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternion;
typedef AngleAxis<Scalar> AngleAxis;
typedef EulerAngles<Scalar> EulerAngles;
Quaternion q1, q2;
Vector3 v0 = Vector3::random(),
v1 = Vector3::random(),
v2 = Vector3::random();
Matrix3 matrot1;
Scalar a = ei_random<Scalar>(-M_PI, M_PI);
@@ -61,11 +61,13 @@ template<typename Scalar> void geometry(void)
q2 = q1.toRotationMatrix();
VERIFY_IS_APPROX(q1*v1,q2*v1);
// Euler angle conversion
VERIFY_IS_APPROX(Quaternion(EulerAngles(q1)) * v1, q1 * v1);
EulerAngles ea = q2;
VERIFY_IS_APPROX(EulerAngles(Quaternion(ea)).coeffs(), ea.coeffs());
VERIFY_IS_NOT_APPROX(EulerAngles(Quaternion(EulerAngles(v2.cwise() * Vector3(0.2,-0.2,1)))).coeffs(), v2);
matrot1 = AngleAxis(0.1, Vector3::UnitX())
* AngleAxis(0.2, Vector3::UnitY())
* AngleAxis(0.3, Vector3::UnitZ());
VERIFY_IS_APPROX(matrot1 * v1,
AngleAxis(0.1, Vector3(1,0,0)).toRotationMatrix()
* (AngleAxis(0.2, Vector3(0,1,0)).toRotationMatrix()
* (AngleAxis(0.3, Vector3(0,0,1)).toRotationMatrix() * v1)));
// angle-axis conversion
AngleAxis aa = q1;