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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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16
test/geo_quaternion.cpp
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@@ -30,8 +30,8 @@ template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType&
Scalar largeEps = test_precision<Scalar>();
Scalar theta_tot = AA(q1*q0.inverse()).angle();
if(theta_tot>M_PI)
theta_tot = Scalar(2.*M_PI)-theta_tot;
if(theta_tot>EIGEN_PI)
theta_tot = Scalar(2.*EIGEN_PI)-theta_tot;
for(Scalar t=0; t<=Scalar(1.001); t+=Scalar(0.1))
{
QuatType q = q0.slerp(t,q1);
@@ -64,8 +64,8 @@ template<typename Scalar, int Options> void quaternion(void)
v2 = Vector3::Random(),
v3 = Vector3::Random();
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)),
b = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)),
b = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
// Quaternion: Identity(), setIdentity();
Quaternionx q1, q2;
@@ -82,8 +82,8 @@ template<typename Scalar, int Options> void quaternion(void)
// angular distance
Scalar refangle = abs(AngleAxisx(q1.inverse()*q2).angle());
if (refangle>Scalar(M_PI))
refangle = Scalar(2)*Scalar(M_PI) - refangle;
if (refangle>Scalar(EIGEN_PI))
refangle = Scalar(2)*Scalar(EIGEN_PI) - refangle;
if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)
{
@@ -156,7 +156,7 @@ template<typename Scalar, int Options> void quaternion(void)
check_slerp(q1,q2);
q1 = AngleAxisx(b, v1.normalized());
q2 = AngleAxisx(b+Scalar(M_PI), v1.normalized());
q2 = AngleAxisx(b+Scalar(EIGEN_PI), v1.normalized());
check_slerp(q1,q2);
q1 = AngleAxisx(b, v1.normalized());
@@ -179,7 +179,7 @@ template<typename Scalar> void mapQuaternion(void){
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
EIGEN_ALIGN_DEFAULT Scalar array1[4];
EIGEN_ALIGN_DEFAULT Scalar array2[4];