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add computeRotationScaling and computeScalingRotation in SVD

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add convenience functions in Transform
reimplement Transform::rotation() to use that
add unit-test
This commit is contained in:
Benoit Jacob
2009-01-22 16:39:08 +00:00
parent 876b1fb842
commit 291ee89684
3 changed files with 138 additions and 43 deletions
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18
test/geometry.cpp
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@@ -25,7 +25,7 @@
#include "main.h"
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/QR>
#include <Eigen/SVD>
template<typename Scalar> void geometry(void)
{
@@ -339,10 +339,22 @@ template<typename Scalar> void geometry(void)
t0.translate(v0).rotate(q1);
VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse());
// test extract rotation
// test extract rotation and scaling
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
VERIFY_IS_APPROX(t0.rotation(Affine) * v1, Matrix3(q1) * v1);
VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1);
Matrix3 mat_rotation, mat_scaling;
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
t0.computeRotationScaling(&mat_rotation, &mat_scaling);
VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling);
VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
t0.computeScalingRotation(&mat_scaling, &mat_rotation);
VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation);
VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
// test casting
Transform<float,3> t1f = t1.template cast<float>();