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Add isApprox() and cast() functions.

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test cases included
This commit is contained in:
Tal Hadad
2016-10-17 22:23:47 +03:00
parent 7402cfd4cc
commit 6f4f12d1ed
2 changed files with 42 additions and 2 deletions
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20
unsupported/Eigen/src/EulerAngles/EulerAngles.h
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@@ -105,8 +105,11 @@ namespace Eigen
class EulerAngles : public RotationBase<EulerAngles<_Scalar, _System>, 3>
{
public:
typedef RotationBase<EulerAngles<_Scalar, _System>, 3> Base;
/** the scalar type of the angles */
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
/** the EulerSystem to use, which represents the axes of rotation. */
typedef _System System;
@@ -248,7 +251,13 @@ namespace Eigen
return *this;
}
// TODO: Support isApprox function
/** \returns \c true if \c *this is approximately equal to \a other, within the precision
* determined by \a prec.
*
* \sa MatrixBase::isApprox() */
bool isApprox(const EulerAngles& other,
const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
{ return angles().isApprox(other.angles(), prec); }
/** \returns an equivalent 3x3 rotation matrix. */
Matrix3 toRotationMatrix() const
@@ -271,6 +280,15 @@ namespace Eigen
s << eulerAngles.angles().transpose();
return s;
}
/** \returns \c *this with scalar type casted to \a NewScalarType */
template <typename NewScalarType>
EulerAngles<NewScalarType, System> cast() const
{
EulerAngles<NewScalarType, System> e;
e.angles() = angles().cast<NewScalarType>();
return e;
}
};
#define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \