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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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10
test/geo_transformations.cpp
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@@ -29,7 +29,7 @@ template<typename Scalar, int Mode, int Options> void non_projective_only()
Transform3 t0, t1, t2;
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Quaternionx q1, q2;
@@ -97,14 +97,14 @@ template<typename Scalar, int Mode, int Options> void transformations()
v1 = Vector3::Random();
Matrix3 matrot1, m;
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Scalar s0 = internal::random<Scalar>(), s1 = internal::random<Scalar>();
while(v0.norm() < test_precision<Scalar>()) v0 = Vector3::Random();
while(v1.norm() < test_precision<Scalar>()) v1 = Vector3::Random();
VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(EIGEN_PI), v0.unitOrthogonal()) * v0);
if(abs(cos(a)) > test_precision<Scalar>())
{
VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
@@ -156,7 +156,7 @@ template<typename Scalar, int Mode, int Options> void transformations()
// TODO complete the tests !
a = 0;
while (abs(a)<Scalar(0.1))
a = internal::random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI));
a = internal::random<Scalar>(-Scalar(0.4)*Scalar(EIGEN_PI), Scalar(0.4)*Scalar(EIGEN_PI));
q1 = AngleAxisx(a, v0.normalized());
Transform3 t0, t1, t2;
@@ -202,7 +202,7 @@ template<typename Scalar, int Mode, int Options> void transformations()
tmat4.matrix()(3,3) = Scalar(1);
VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
Scalar a3 = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a3 = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Vector3 v3 = Vector3::Random().normalized();
AngleAxisx aa3(a3, v3);
Transform3 t3(aa3);