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bug #823: add static method to Quaternion for uniform random rotations.

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This commit is contained in:
Joseph Mirabel
2016-05-20 13:15:40 +02:00
parent 2f656ce447
commit eb0cc2573a
2 changed files with 25 additions and 4 deletions
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7
test/geo_quaternion.cpp
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@@ -50,7 +50,6 @@ template<typename Scalar, int Options> void quaternion(void)
using std::abs;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar,Options> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
@@ -157,8 +156,8 @@ template<typename Scalar, int Options> void quaternion(void)
Quaternionx *q = new Quaternionx;
delete q;
q1 = AngleAxisx(a, v0.normalized());
q2 = AngleAxisx(b, v1.normalized());
q1 = Quaternionx::UniformRandom ();
q2 = Quaternionx::UniformRandom ();
check_slerp(q1,q2);
q1 = AngleAxisx(b, v1.normalized());
@@ -169,7 +168,7 @@ template<typename Scalar, int Options> void quaternion(void)
q2 = AngleAxisx(-b, -v1.normalized());
check_slerp(q1,q2);
q1.coeffs() = Vector4::Random().normalized();
q1 = Quaternionx::UniformRandom ();
q2.coeffs() = -q1.coeffs();
check_slerp(q1,q2);
}