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dot() now always uses eigen3 convention, even in eigen2 support mode, even stage 10. Didn't have a choice as lots of eigen code is using it.

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This commit is contained in:
Benoit Jacob
2011-01-27 12:04:26 -05:00
parent e761ba68f7
commit b2b8c6a89c
9 changed files with 26 additions and 38 deletions
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8
test/eigen2/eigen2_geometry.cpp
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@@ -61,7 +61,7 @@ template<typename Scalar> void geometry(void)
Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
// cross product
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).eigen2_dot(v1), Scalar(1));
Matrix3 m;
m << v0.normalized(),
(v0.cross(v1)).normalized(),
@@ -76,15 +76,15 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());
// unitOrthogonal
VERIFY_IS_MUCH_SMALLER_THAN(u0.unitOrthogonal().dot(u0), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(u0.unitOrthogonal().eigen2_dot(u0), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().eigen2_dot(v0), Scalar(1));
VERIFY_IS_APPROX(u0.unitOrthogonal().norm(), Scalar(1));
VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1));
VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(ei_cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
VERIFY_IS_APPROX(ei_cos(a)*v0.squaredNorm(), v0.eigen2_dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);