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Add .perpendicular() function in Geometry module (adapted from Eigen1)

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Documentation:
 * add an overview for each module.
 * add an example for .all() and Cwise::operator<
This commit is contained in:
Gael Guennebaud
2008-07-22 10:54:42 +00:00
parent 516db2c3b9
commit 172000aaeb
22 changed files with 189 additions and 36 deletions
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21
test/geometry.cpp
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@@ -45,10 +45,23 @@ template<typename Scalar> void geometry(void)
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random(),
v2 = Vector3::Random();
Vector2 u0 = Vector2::Random();
Matrix3 matrot1;
Scalar a = ei_random<Scalar>(-M_PI, M_PI);
// cross product
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
Matrix3 m;
m << v0.normalized(),
(v0.cross(v1)).normalized(),
(v0.cross(v1).cross(v0)).normalized();
VERIFY(m.isUnitary());
// perpendicular
VERIFY_IS_MUCH_SMALLER_THAN(u0.perpendicular().dot(u0), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v0.perpendicular().dot(v0), Scalar(1));
q1 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized());
q2 = AngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());
@@ -82,14 +95,6 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
// cross product
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
Matrix3 m;
m << v0.normalized(),
(v0.cross(v1)).normalized(),
(v0.cross(v1).cross(v0)).normalized();
VERIFY(m.isUnitary());
// AngleAxis
VERIFY_IS_APPROX(AngleAxis(a,v1.normalized()).toRotationMatrix(),
Quaternion(AngleAxis(a,v1.normalized())).toRotationMatrix());