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Introduce EIGEN_PI, get rid of M_PI and acos(-1.0)

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This commit is contained in:
Gael Guennebaud
2015-06-10 17:12:10 +02:00
parent 9756c7fb4d
commit d93ba137f2
6 changed files with 29 additions and 31 deletions
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20
test/geo_eulerangles.cpp
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@@ -26,16 +26,16 @@ void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int 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(M_PI/2),test_precision<Scalar>())) )
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(M_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[1]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(M_PI));
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[2]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(M_PI));
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));
}
template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
@@ -64,7 +64,7 @@ template<typename Scalar> void eulerangles()
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Quaternionx q1;
q1 = AngleAxisx(a, Vector3::Random().normalized());
Matrix3 m;
@@ -84,13 +84,13 @@ template<typename Scalar> void eulerangles()
check_all_var(ea);
// Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi].
ea = (Array3::Random() + Array3(1,0,0))*Scalar(M_PI)*Array3(0.5,1,1);
ea = (Array3::Random() + Array3(1,0,0))*Scalar(EIGEN_PI)*Array3(0.5,1,1);
check_all_var(ea);
ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(M_PI));
ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(EIGEN_PI));
check_all_var(ea);
ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(M_PI));
ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(EIGEN_PI));
check_all_var(ea);
ea[1] = 0;