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fix bug #439: add Quaternion::FromTwoVectors() static constructor

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This commit is contained in:
Gael Guennebaud
2012-03-26 18:30:04 +02:00
parent 6c3b8b2ebc
commit fd2f399c18
2 changed files with 35 additions and 0 deletions
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11
test/geo_quaternion.cpp
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@@ -142,6 +142,17 @@ template<typename Scalar, int Options> void quaternion(void)
VERIFY_IS_APPROX(-v3.normalized(),(q2.setFromTwoVectors(v1,-v3)*v1).normalized());
}
// from two vector creation static function
VERIFY_IS_APPROX( v2.normalized(),(Quaternionx::FromTwoVectors(v1, v2)*v1).normalized());
VERIFY_IS_APPROX( v1.normalized(),(Quaternionx::FromTwoVectors(v1, v1)*v1).normalized());
VERIFY_IS_APPROX(-v1.normalized(),(Quaternionx::FromTwoVectors(v1,-v1)*v1).normalized());
if (internal::is_same<Scalar,double>::value)
{
v3 = (v1.array()+eps).matrix();
VERIFY_IS_APPROX( v3.normalized(),(Quaternionx::FromTwoVectors(v1, v3)*v1).normalized());
VERIFY_IS_APPROX(-v3.normalized(),(Quaternionx::FromTwoVectors(v1,-v3)*v1).normalized());
}
// inverse and conjugate
VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);