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Add factory/getters for quat coeffs in both orders

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Hs293Go
2025-05-24 04:10:50 -04:00
parent d81aa18f4d
commit a7f183cadb
2 changed files with 88 additions and 0 deletions
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13
test/geo_quaternion.cpp
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@@ -78,6 +78,19 @@ void quaternion(void) {
VERIFY(ss.str() == "0i + 0j + 0k + 1");
#endif
// Consistent handling of scalar first/last conventions regardless of Eigen's own coefficient layout
const Scalar w(a);
const Vector3 xyz(v0);
q1 = Quaternionx::FromCoeffsScalarFirst(w, xyz.x(), xyz.y(), xyz.z());
q2 = Quaternionx::FromCoeffsScalarLast(xyz.x(), xyz.y(), xyz.z(), w);
VERIFY_IS_EQUAL(q1, q2);
VERIFY_IS_EQUAL(q1.coeffsScalarFirst()[0], w);
VERIFY_IS_EQUAL(q1.coeffsScalarFirst()(seqN(1, 3)), xyz);
VERIFY_IS_EQUAL(q1.coeffsScalarLast()[3], w);
VERIFY_IS_EQUAL(q1.coeffsScalarLast()(seqN(0, 3)), xyz);
// concatenation
q1 *= q2;