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Use RotationBase, test quaternions and support ranges.

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This commit is contained in:
Tal Hadad
2015-12-20 16:24:53 +02:00
parent b091b7e6ea
commit bfed274df3
3 changed files with 262 additions and 71 deletions
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131
unsupported/test/EulerAngles.cpp
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@@ -14,14 +14,53 @@
using namespace Eigen;
template<typename EulerSystem, typename Scalar>
void verify_euler(const Matrix<Scalar,3,1>& ea)
void verify_euler_ranged(const Matrix<Scalar,3,1>& ea,
bool positiveRangeHeading, bool positiveRangePitch, bool positiveRangeRoll)
{
typedef EulerAngles<Scalar, EulerSystem> EulerAnglesType;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Quaternion<Scalar> QuaternionType;
typedef AngleAxis<Scalar> AngleAxisType;
using std::abs;
Scalar headingRangeStart, headingRangeEnd;
Scalar pitchRangeStart, pitchRangeEnd;
Scalar rollRangeStart, rollRangeEnd;
if (positiveRangeHeading)
{
headingRangeStart = Scalar(0);
headingRangeEnd = Scalar(2 * EIGEN_PI);
}
else
{
headingRangeStart = -Scalar(EIGEN_PI);
headingRangeEnd = Scalar(EIGEN_PI);
}
if (positiveRangePitch)
{
pitchRangeStart = Scalar(0);
pitchRangeEnd = Scalar(2 * EIGEN_PI);
}
else
{
pitchRangeStart = -Scalar(EIGEN_PI);
pitchRangeEnd = Scalar(EIGEN_PI);
}
if (positiveRangeRoll)
{
rollRangeStart = Scalar(0);
rollRangeEnd = Scalar(2 * EIGEN_PI);
}
else
{
rollRangeStart = -Scalar(EIGEN_PI);
rollRangeEnd = Scalar(EIGEN_PI);
}
const int i = EulerSystem::HeadingAxisAbs - 1;
const int j = EulerSystem::PitchAxisAbs - 1;
const int k = EulerSystem::RollAxisAbs - 1;
@@ -37,46 +76,80 @@ void verify_euler(const Matrix<Scalar,3,1>& ea)
EulerAnglesType e(ea[0], ea[1], ea[2]);
Matrix3 m(e);
Vector3 eabis = EulerAnglesType(m).coeffs();
Vector3 eabis = EulerAnglesType(m, positiveRangeHeading, positiveRangePitch, positiveRangeRoll).coeffs();
// Check that eabis in range
VERIFY(headingRangeStart <= eabis[0] && eabis[0] <= headingRangeEnd);
VERIFY(pitchRangeStart <= eabis[1] && eabis[1] <= pitchRangeEnd);
VERIFY(rollRangeStart <= eabis[2] && eabis[2] <= rollRangeEnd);
Vector3 eabis2 = m.eulerAngles(i, j, k);
// Invert the relevant axes
eabis2[0] *= iFactor;
eabis2[1] *= jFactor;
eabis2[2] *= kFactor;
// Saturate the angles to the correct range
if (positiveRangeHeading && (eabis2[0] < 0))
eabis2[0] += Scalar(2 * EIGEN_PI);
if (positiveRangePitch && (eabis2[1] < 0))
eabis2[1] += Scalar(2 * EIGEN_PI);
if (positiveRangeRoll && (eabis2[2] < 0))
eabis2[2] += Scalar(2 * EIGEN_PI);
VERIFY_IS_APPROX(eabis, eabis2);// Verify that our estimation is the same as m.eulerAngles() is
Matrix3 mbis(AngleAxisx(eabis[0], I) * AngleAxisx(eabis[1], J) * AngleAxisx(eabis[2], K));
Matrix3 mbis(AngleAxisType(eabis[0], I) * AngleAxisType(eabis[1], J) * AngleAxisType(eabis[2], K));
VERIFY_IS_APPROX(m, mbis);
/* If I==K, and ea[1]==0, then there no unique solution. */
/* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(EIGEN_PI/2),test_precision<Scalar>())) )
VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[1]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[2]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(EIGEN_PI));
// Tests that are only relevant for no possitive range
if (!(positiveRangeHeading || positiveRangePitch || positiveRangeRoll))
{
/* If I==K, and ea[1]==0, then there no unique solution. */
/* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(EIGEN_PI/2),test_precision<Scalar>())) )
VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
}
// Quaternions
QuaternionType q(e);
eabis = EulerAnglesType(q, positiveRangeHeading, positiveRangePitch, positiveRangeRoll).coeffs();
VERIFY_IS_APPROX(eabis, eabis2);// Verify that the euler angles are still the same
}
template<typename EulerSystem, typename Scalar>
void verify_euler(const Matrix<Scalar,3,1>& ea)
{
verify_euler_ranged<EulerSystem>(ea, false, false, false);
verify_euler_ranged<EulerSystem>(ea, false, false, true);
verify_euler_ranged<EulerSystem>(ea, false, true, false);
verify_euler_ranged<EulerSystem>(ea, false, true, true);
verify_euler_ranged<EulerSystem>(ea, true, false, false);
verify_euler_ranged<EulerSystem>(ea, true, false, true);
verify_euler_ranged<EulerSystem>(ea, true, true, false);
verify_euler_ranged<EulerSystem>(ea, true, true, true);
}
template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
{
verify_euler<EulerSystemXYZ, Scalar>(ea);
verify_euler<EulerSystemXYX, Scalar>(ea);
verify_euler<EulerSystemXZY, Scalar>(ea);
verify_euler<EulerSystemXZX, Scalar>(ea);
verify_euler<EulerSystemXYZ>(ea);
verify_euler<EulerSystemXYX>(ea);
verify_euler<EulerSystemXZY>(ea);
verify_euler<EulerSystemXZX>(ea);
verify_euler<EulerSystemYZX, Scalar>(ea);
verify_euler<EulerSystemYZY, Scalar>(ea);
verify_euler<EulerSystemYXZ, Scalar>(ea);
verify_euler<EulerSystemYXY, Scalar>(ea);
verify_euler<EulerSystemYZX>(ea);
verify_euler<EulerSystemYZY>(ea);
verify_euler<EulerSystemYXZ>(ea);
verify_euler<EulerSystemYXY>(ea);
verify_euler<EulerSystemZXY, Scalar>(ea);
verify_euler<EulerSystemZXZ, Scalar>(ea);
verify_euler<EulerSystemZYX, Scalar>(ea);
verify_euler<EulerSystemZYZ, Scalar>(ea);
verify_euler<EulerSystemZXY>(ea);
verify_euler<EulerSystemZXZ>(ea);
verify_euler<EulerSystemZYX>(ea);
verify_euler<EulerSystemZYZ>(ea);
}
template<typename Scalar> void eulerangles()
@@ -85,11 +158,11 @@ template<typename Scalar> void eulerangles()
typedef Matrix<Scalar,3,1> Vector3;
typedef Array<Scalar,3,1> Array3;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef AngleAxis<Scalar> AngleAxisType;
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Quaternionx q1;
q1 = AngleAxisx(a, Vector3::Random().normalized());
q1 = AngleAxisType(a, Vector3::Random().normalized());
Matrix3 m;
m = q1;