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Fixes #89.

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Added regression test.
This commit is contained in:
Hauke Heibel 2010-02-02 09:27:41 +01:00
parent 7c41fb66f8
commit 7b2dd988fa
2 changed files with 14 additions and 0 deletions
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10
Eigen/src/Geometry/AngleAxis.h
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@ -189,6 +189,16 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
return *this = QuaternionType(mat); return *this = QuaternionType(mat);
} }
/**
* \brief Sets \c *this from a 3x3 rotation matrix.
**/
template<typename Scalar>
template<typename Derived>
AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
{
return *this = QuaternionType(mat);
}
/** Constructs and \returns an equivalent 3x3 rotation matrix. /** Constructs and \returns an equivalent 3x3 rotation matrix.
*/ */
template<typename Scalar> template<typename Scalar>

4
test/geo_transformations.cpp
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@ -85,6 +85,10 @@ template<typename Scalar, int Mode> void transformations(void)
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
aa.fromRotationMatrix(aa.toRotationMatrix());
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
// AngleAxis // AngleAxis
VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix()); Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());