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* add Map<Quaternion> test based on Map from test/map.cpp

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* replace implicit constructor AngleAxis(QuaternionBase&) by an explicit one, it seems ambiguous for the compiler
* remove explicit constructor with conversion type quaternion(Quaternion&): conflict between constructor.
* modify EIGEN_INHERIT_ASSIGNEMENT_OPERATORS to suit Quaternion class
This commit is contained in:
Mathieu Gautier
2009-11-13 16:41:51 +01:00
parent d07c05b3a5
commit 6680fa42ee
6 changed files with 112 additions and 55 deletions
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28
test/geo_quaternion.cpp
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@@ -2,6 +2,7 @@
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
@@ -84,7 +85,7 @@ template<typename Scalar> void quaternion(void)
// angle-axis conversion
AngleAxisx aa = q1;
AngleAxisx aa = AngleAxisx(q1);
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
@@ -110,10 +111,35 @@ template<typename Scalar> void quaternion(void)
VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);
}
template<typename Scalar> void mapQuaternion(void){
typedef Map<Quaternion<Scalar>, Aligned> MQuaternionA;
typedef Map<Quaternion<Scalar> > MQuaternionUA;
typedef Quaternion<Scalar> Quaternionx;
EIGEN_ALIGN16 Scalar array1[4];
EIGEN_ALIGN16 Scalar array2[4];
EIGEN_ALIGN16 Scalar array3[4+1];
Scalar* array3unaligned = array3+1;
MQuaternionA(array1).coeffs().setRandom();
(MQuaternionA(array2)) = MQuaternionA(array1);
(MQuaternionUA(array3unaligned)) = MQuaternionA(array1);
Quaternionx q1 = MQuaternionA(array1);
Quaternionx q2 = MQuaternionA(array2);
Quaternionx q3 = MQuaternionUA(array3unaligned);
VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());
VERIFY_IS_APPROX(q1.coeffs(), q3.coeffs());
VERIFY_RAISES_ASSERT((MQuaternionA(array3unaligned)));
}
void test_geo_quaternion()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1( quaternion<float>() );
CALL_SUBTEST_2( quaternion<double>() );
CALL_SUBTEST( mapQuaternion<float>() );
CALL_SUBTEST( mapQuaternion<double>() );
}
}

2
test/geo_transformations.cpp
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@@ -81,7 +81,7 @@ template<typename Scalar, int Mode> void transformations(void)
* (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
// angle-axis conversion
AngleAxisx aa = q1;
AngleAxisx aa = AngleAxisx(q1);
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);