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* added a RotationBase class following the CRT pattern

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This allow code factorization and generic template specialization
  of functions
* added any_rotation * {Translation,Scaling,Transform} products methods
* rewrite of the actually broken ToRoationMatrix helper class to
  a global ei_toRotationMatrix function.
This commit is contained in:
Gael Guennebaud
2008-08-30 20:11:04 +00:00
parent 027ee14f31
commit 6ba991aa3a
8 changed files with 166 additions and 77 deletions
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38
test/geometry.cpp
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@@ -173,6 +173,14 @@ template<typename Scalar> void geometry(void)
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity(test_precision<Scalar>()) );
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity(); t0.scale(v0).rotate(AngleAxis(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// Transform - new API
// 3D
t0.setIdentity();
@@ -211,6 +219,36 @@ template<typename Scalar> void geometry(void)
t1 = Translation3(v0) * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transform * quaternion
t0.rotate(q1);
t1 = t1 * q1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * quaternion
t0.translate(v1).rotate(q1);
t1 = t1 * (Translation3(v1) * q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// scaling * quaternion
t0.scale(v1).rotate(q1);
t1 = t1 * (Scaling3(v1) * q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * transform
t0.prerotate(q1);
t1 = q1 * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * translation
t0.rotate(q1).translate(v1);
t1 = t1 * (q1 * Translation3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * scaling
t0.rotate(q1).scale(v1);
t1 = t1 * (q1 * Scaling3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * vector
t0.setIdentity();
t0.translate(v0);