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Add Quaternion constructor from real scalar and imaginary vector

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H S Helson Go
2023-06-06 21:51:22 -04:00
committed by Antonio Sánchez
parent 31cd2ad371
commit bc57b926a0
2 changed files with 13 additions and 0 deletions
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4
test/geo_quaternion.cpp
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@@ -98,6 +98,10 @@ template<typename Scalar, int Options> void quaternion(void)
VERIFY_IS_MUCH_SMALLER_THAN(abs(q1.angularDistance(q2) - refangle), Scalar(1));
}
// Action on vector by the q v q* formula
VERIFY_IS_APPROX(q1 * v2, (q1 * Quaternionx(Scalar(0), v2) * q1.inverse()).vec());
VERIFY_IS_APPROX(q1.inverse() * v2, (q1.inverse() * Quaternionx(Scalar(0), v2) * q1).vec());
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2,