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*add PartialRedux::cross() with unit test

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*add transform-from-matrices test
*undo an unwanted change in Matrix
This commit is contained in:
Benoit Jacob
2009-01-05 14:26:34 +00:00
parent d316d4f393
commit 986f301233
3 changed files with 48 additions and 1 deletions
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19
test/geometry.cpp
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@@ -181,6 +181,13 @@ template<typename Scalar> void geometry(void)
// More transform constructors, operator=, operator*=
Matrix3 mat3 = Matrix3::Random();
Matrix4 mat4;
mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
Transform3 tmat3(mat3), tmat4(mat4);
tmat4.matrix()(3,3) = Scalar(1);
VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
Scalar a3 = ei_random<Scalar>(-M_PI, M_PI);
Vector3 v3 = Vector3::Random().normalized();
AngleAxisx aa3(a3, v3);
@@ -388,6 +395,18 @@ template<typename Scalar> void geometry(void)
VERIFY_EULER(2,0,2, Z,X,Z);
VERIFY_EULER(2,1,0, Z,Y,X);
VERIFY_EULER(2,1,2, Z,Y,Z);
// colwise/rowwise cross product
mat3.setRandom();
Vector3 vec3 = Vector3::Random();
Matrix3 mcross;
int i = ei_random<int>(0,2);
mcross = mat3.colwise().cross(vec3);
VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
mcross = mat3.rowwise().cross(vec3);
VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
}
void test_geometry()