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add matrix * transform product

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This commit is contained in:
Gael Guennebaud
2008-12-19 16:31:22 +00:00
parent df4bd5e46f
commit ebf906a23a
2 changed files with 11 additions and 3 deletions
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7
test/geometry.cpp
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@@ -180,7 +180,7 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
// More transform constructors, operator=, operator*=
Scalar a3 = ei_random<Scalar>(-M_PI, M_PI);
Vector3 v3 = Vector3::Random().normalized();
AngleAxisx aa3(a3, v3);
@@ -212,6 +212,9 @@ template<typename Scalar> void geometry(void)
t4 *= sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
// matrix * transform
VERIFY_IS_APPROX(Transform3(t3.matrix()*t4).matrix(), Transform3(t3*t4).matrix());
// chained Transform product
VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
@@ -220,8 +223,6 @@ template<typename Scalar> void geometry(void)
t5 = t5*t5;
VERIFY_IS_APPROX(t5, t4*t4);
// 2D transformation
Transform2 t20, t21;
Vector2 v20 = Vector2::Random();