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*patch by Daniel Gomez:

Browse Source 
- bugfix in SparseMatrix
 - add a sparse unit test
* renamed Transform::affine => linear
This commit is contained in:
Gael Guennebaud
2008-08-21 17:02:47 +00:00
parent 082e309d2a
commit 60804c306d
6 changed files with 101 additions and 30 deletions
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12
test/geometry.cpp
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@@ -117,9 +117,9 @@ template<typename Scalar> void geometry(void)
q1 = AngleAxis(a, v0.normalized());
Transform3 t0, t1, t2;
t0.setIdentity();
t0.affine() = q1.toRotationMatrix();
t0.linear() = q1.toRotationMatrix();
t1.setIdentity();
t1.affine() = q1.toRotationMatrix();
t1.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;//= Vector3::Random().cwiseProduct(Vector3(10,2,0.5));
t0.scale(v0);
@@ -131,10 +131,10 @@ template<typename Scalar> void geometry(void)
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
t0.affine() = q1.toRotationMatrix();
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
t1.affine() = q1.conjugate().toRotationMatrix();
t1.linear() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwise().inverse());
t1.translate(-v0);
@@ -148,12 +148,12 @@ template<typename Scalar> void geometry(void)
Vector2 v20 = Vector2::Random();
Vector2 v21 = Vector2::Random();
t21.setIdentity();
t21.affine() = Rotation2D<Scalar>(a).toRotationMatrix();
t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
t21.pretranslate(v20).scale(v21).matrix());
t21.setIdentity();
t21.affine() = Rotation2D<Scalar>(-a).toRotationMatrix();
t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) * (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity() );
}