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Fix bug #609: avoid if statement and improve consistency of eulerAngles method

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This commit is contained in:
Gael Guennebaud
2013-06-09 23:14:45 +02:00
parent e04b59929e
commit c98fd7a6ca
2 changed files with 85 additions and 31 deletions
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58
test/geo_eulerangles.cpp
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@@ -1,7 +1,7 @@
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,22 +12,18 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar> void eulerangles(void)
template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
{
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Quaternionx q1;
q1 = AngleAxisx(a, Vector3::Random().normalized());
Matrix3 m;
m = q1;
#define VERIFY_EULER(I,J,K, X,Y,Z) { \
Vector3 ea = m.eulerAngles(I,J,K); \
VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
Matrix3 m(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
Vector3 eabis = m.eulerAngles(I,J,K); \
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit##X()) * AngleAxisx(eabis[1], Vector3::Unit##Y()) * AngleAxisx(eabis[2], Vector3::Unit##Z())); \
VERIFY_IS_APPROX(m, mbis); \
if(I!=K || ea[1]!=0) VERIFY_IS_APPROX(ea, eabis); \
}
VERIFY_EULER(0,1,2, X,Y,Z);
VERIFY_EULER(0,1,0, X,Y,X);
@@ -45,6 +41,44 @@ template<typename Scalar> void eulerangles(void)
VERIFY_EULER(2,1,2, Z,Y,Z);
}
template<typename Scalar> void eulerangles(void)
{
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef Array<Scalar,3,1> Array3;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Quaternionx q1;
q1 = AngleAxisx(a, Vector3::Random().normalized());
Matrix3 m;
m = q1;
Vector3 ea = m.eulerAngles(0,1,2);
check_all_var(ea);
ea = m.eulerAngles(0,1,0);
check_all_var(ea);
ea = (Array3::Random() + Array3(1,1,0))*M_PI*Array3(0.5,0.5,1);
check_all_var(ea);
ea[2] = ea[0] = internal::random<Scalar>(0,M_PI);
check_all_var(ea);
ea[0] = ea[1] = internal::random<Scalar>(0,M_PI);
check_all_var(ea);
ea[1] = 0;
check_all_var(ea);
ea.head(2).setZero();
check_all_var(ea);
ea.setZero();
check_all_var(ea);
}
void test_geo_eulerangles()
{
for(int i = 0; i < g_repeat; i++) {