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the big Array/Cwise rework as discussed on the mailing list. The new API

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can be seen in Eigen/src/Core/Cwise.h.
This commit is contained in:
Benoit Jacob
2008-07-08 00:49:10 +00:00
parent c910c517b3
commit f5791eeb70
26 changed files with 465 additions and 389 deletions
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6
test/geometry.cpp
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@@ -65,7 +65,7 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(Quaternion(EulerAngles(q1)) * v1, q1 * v1);
EulerAngles ea = q2;
VERIFY_IS_APPROX(EulerAngles(Quaternion(ea)).coeffs(), ea.coeffs());
VERIFY_IS_NOT_APPROX(EulerAngles(Quaternion(EulerAngles(v2.cwiseProduct(Vector3(0.2,-0.2,1))))).coeffs(), v2);
VERIFY_IS_NOT_APPROX(EulerAngles(Quaternion(EulerAngles(v2.cwise() * Vector3(0.2,-0.2,1)))).coeffs(), v2);
// angle-axis conversion
AngleAxis aa = q1;
@@ -128,7 +128,7 @@ template<typename Scalar> void geometry(void)
t0.pretranslate(v0);
t0.scale(v1);
t1.affine() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwiseInverse());
t1.prescale(v1.cwise().inverse());
t1.translate(-v0);
VERIFY((t0.matrix() * t1.matrix()).isIdentity());
@@ -147,7 +147,7 @@ template<typename Scalar> void geometry(void)
t21.setIdentity();
t21.affine() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) * (t21.prescale(v21.cwiseInverse()).translate(-v20))).isIdentity() );
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) * (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity() );
}
void test_geometry()