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Revert "Geometry/EulerAngles: make sure that returned solution has canonical ranges"

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This reverts commit 7f06bcae2c
This commit is contained in:
Rasmus Munk Larsen
2023-04-27 00:06:23 +00:00
parent 2d0c6ad873
commit 0b51f763cb
3 changed files with 21 additions and 70 deletions
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61
test/geo_eulerangles.cpp
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@@ -20,47 +20,22 @@ void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int k)
typedef Matrix<Scalar,3,1> Vector3;
typedef AngleAxis<Scalar> AngleAxisx;
using std::abs;
const Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
// Test the new default canonical ranges behaviour of eulerAngles (canonical = true)
{
Vector3 eabis = m.eulerAngles(i, j, k);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[0]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
if (i != k)
{
// Tait-Bryan sequence
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI / 2), eabis[1]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI / 2));
}
else
{
// Proper Euler sequence
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[1] || test_isMuchSmallerThan(eabis[1], Scalar(1)));
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI));
}
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI));
}
// Test legacy behaviour of eulerAngles (canonical = false)
{
Vector3 eabis = m.eulerAngles(i, j, k, false);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[1]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI));
}
Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
Vector3 eabis = m.eulerAngles(i, j, k);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
/* If I==K, and ea[1]==0, then there no unique solution. */
/* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
if((i!=k || !numext::is_exactly_zero(ea[1])) && (i == k || !internal::isApprox(abs(ea[1]), Scalar(EIGEN_PI / 2), test_precision<Scalar>())) )
VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[1]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI));
}
template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
@@ -108,8 +83,8 @@ template<typename Scalar> void eulerangles()
ea = m.eulerAngles(0,1,0);
check_all_var(ea);
// Check with random angles in range [-pi:pi]x[-pi:pi]x[-pi:pi].
ea = Array3::Random() * Scalar(EIGEN_PI)*Array3(1,1,1);
// Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi].
ea = (Array3::Random() + Array3(1,0,0))*Scalar(EIGEN_PI)*Array3(0.5,1,1);
check_all_var(ea);
ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(EIGEN_PI));