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Fix traits of Map<Quaternion>, and respectively extend the unit tests

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This commit is contained in:
Gael Guennebaud 2013-01-20 10:21:54 +01:00
parent fb89b66229
commit 392ffce3b9
2 changed files with 39 additions and 19 deletions
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16
Eigen/src/Geometry/Quaternion.h
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@ -305,29 +305,19 @@ typedef Quaternion<double> Quaterniond;
namespace internal {
template<typename _Scalar, int _Options>
struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, _Options> >
struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
{
typedef _Scalar Scalar;
typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients;
typedef traits<Quaternion<_Scalar, _Options> > TraitsBase;
enum {
IsAligned = TraitsBase::IsAligned,
Flags = TraitsBase::Flags
};
};
}
namespace internal {
template<typename _Scalar, int _Options>
struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar> >
struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
{
typedef _Scalar Scalar;
typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients;
typedef traits<Quaternion<_Scalar, _Options> > TraitsBase;
typedef traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > TraitsBase;
enum {
IsAligned = TraitsBase::IsAligned,
Flags = TraitsBase::Flags & ~LvalueBit
};
};

42
test/geo_quaternion.cpp
View File

@ -172,23 +172,36 @@ template<typename Scalar, int Options> void quaternion(void)
template<typename Scalar> void mapQuaternion(void){
typedef Map<Quaternion<Scalar>, Aligned> MQuaternionA;
typedef Map<const Quaternion<Scalar>, Aligned> MCQuaternionA;
typedef Map<Quaternion<Scalar> > MQuaternionUA;
typedef Map<const Quaternion<Scalar> > MCQuaternionUA;
typedef Quaternion<Scalar> Quaternionx;
typedef Matrix<Scalar,3,1> Vector3;
typedef AngleAxis<Scalar> AngleAxisx;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
EIGEN_ALIGN16 Scalar array1[4];
EIGEN_ALIGN16 Scalar array2[4];
EIGEN_ALIGN16 Scalar array3[4+1];
Scalar* array3unaligned = array3+1;
MQuaternionA mq1(array1);
MCQuaternionA mcq1(array1);
MQuaternionA mq2(array2);
MQuaternionUA mq3(array3unaligned);
MCQuaternionUA mcq3(array3unaligned);
// std::cerr << array1 << " " << array2 << " " << array3 << "\n";
MQuaternionA(array1).coeffs().setRandom();
(MQuaternionA(array2)) = MQuaternionA(array1);
(MQuaternionUA(array3unaligned)) = MQuaternionA(array1);
mq1 = AngleAxisx(a, v0.normalized());
mq2 = mq1;
mq3 = mq1;
Quaternionx q1 = MQuaternionA(array1);
Quaternionx q2 = MQuaternionA(array2);
Quaternionx q3 = MQuaternionUA(array3unaligned);
Quaternionx q1 = mq1;
Quaternionx q2 = mq2;
Quaternionx q3 = mq3;
Quaternionx q4 = MCQuaternionUA(array3unaligned);
VERIFY_IS_APPROX(q1.coeffs(), q2.coeffs());
@ -198,6 +211,23 @@ template<typename Scalar> void mapQuaternion(void){
if(internal::packet_traits<Scalar>::Vectorizable)
VERIFY_RAISES_ASSERT((MQuaternionA(array3unaligned)));
#endif
VERIFY_IS_APPROX(mq1 * (mq1.inverse() * v1), v1);
VERIFY_IS_APPROX(mq1 * (mq1.conjugate() * v1), v1);
VERIFY_IS_APPROX(mcq1 * (mcq1.inverse() * v1), v1);
VERIFY_IS_APPROX(mcq1 * (mcq1.conjugate() * v1), v1);
VERIFY_IS_APPROX(mq3 * (mq3.inverse() * v1), v1);
VERIFY_IS_APPROX(mq3 * (mq3.conjugate() * v1), v1);
VERIFY_IS_APPROX(mcq3 * (mcq3.inverse() * v1), v1);
VERIFY_IS_APPROX(mcq3 * (mcq3.conjugate() * v1), v1);
VERIFY_IS_APPROX(mq1*mq2, q1*q2);
VERIFY_IS_APPROX(mq3*mq2, q3*q2);
VERIFY_IS_APPROX(mcq1*mq2, q1*q2);
VERIFY_IS_APPROX(mcq3*mq2, q3*q2);
}
template<typename Scalar> void quaternionAlignment(void){