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improved Quaternion class:

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- Euler angles and angle axis conversions,
 - stable spherical interpolation
 - documentation
 - update the respective unit test
This commit is contained in:
Gael Guennebaud
2008-06-03 13:43:29 +00:00
parent bcb32839c2
commit 196f38f5db
3 changed files with 169 additions and 21 deletions
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23
test/geometry.cpp
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@@ -37,27 +37,42 @@ template<typename Scalar> void geometry(void)
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternion;
Quaternion q1, q2, q3;
Quaternion q1, q2;
Vector3 v0 = Vector3::random(),
v1 = Vector3::random(),
v2 = Vector3::random();
Scalar a;
q1.fromAngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized());
q2.fromAngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
VERIFY_IS_NOT_APPROX(q2 * q1 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
q2.fromRotationMatrix(q1.toRotationMatrix());
VERIFY_IS_APPROX(q1*v1,q2*v1);
// Euler angle conversion
VERIFY_IS_APPROX(q2.fromEulerAngles(q1.toEulerAngles()) * v1, q1 * v1);
v2 = q2.toEulerAngles();
VERIFY_IS_APPROX(q2.fromEulerAngles(v2).toEulerAngles(), v2);
VERIFY_IS_NOT_APPROX(q2.fromEulerAngles(v2.cwiseProduct(Vector3(0.2,-0.2,1))).toEulerAngles(), v2);
// angle-axis conversion
q1.toAngleAxis(a, v2);
VERIFY_IS_APPROX(q1 * v1, q2.fromAngleAxis(a,v2) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, q2.fromAngleAxis(2*a,v2) * v1);
// from two vector creation
VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
// cross product
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
Matrix3 m;
m << v0.normalized(),
(v0.cross(v1)).normalized(),
@@ -68,7 +83,7 @@ template<typename Scalar> void geometry(void)
void test_geometry()
{
for(int i = 0; i < g_repeat; i++) {
// CALL_SUBTEST( geometry<float>() );
CALL_SUBTEST( geometry<float>() );
CALL_SUBTEST( geometry<double>() );
}
}