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fix bug #398, the quaternion returned by slerp was not always normalized,

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add a proper unit test for slerp
This commit is contained in:
Gael Guennebaud 2011-12-23 22:39:32 +01:00
parent 67ae94f3a2
commit 8171adb7ff
2 changed files with 50 additions and 4 deletions
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5
Eigen/src/Geometry/Quaternion.h
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@ -688,7 +688,7 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
Scalar scale0;
Scalar scale1;
if (absD>=one)
if(absD>=one)
{
scale0 = Scalar(1) - t;
scale1 = t;
@ -701,9 +701,8 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;
scale1 = internal::sin( ( t * theta) ) / sinTheta;
if (d<0)
scale1 = -scale1;
}
if(d<0) scale1 = -scale1;
return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
}

49
test/geo_quaternion.cpp
View File

@ -28,6 +28,35 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename T> T bounded_acos(T v)
{
using std::acos;
using std::min;
using std::max;
return acos((max)(T(-1),(min)(v,T(1))));
}
template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType& q1)
{
typedef typename QuatType::Scalar Scalar;
typedef Matrix<Scalar,3,1> VectorType;
typedef AngleAxis<Scalar> AA;
Scalar largeEps = test_precision<Scalar>();
Scalar theta_tot = AA(q1*q0.inverse()).angle();
if(theta_tot>M_PI)
theta_tot = 2.*M_PI-theta_tot;
for(Scalar t=0; t<=1.001; t+=0.1)
{
QuatType q = q0.slerp(t,q1);
Scalar theta = AA(q*q0.inverse()).angle();
VERIFY(internal::abs(q.norm() - 1) < largeEps);
if(theta_tot==0) VERIFY(theta_tot==0);
else VERIFY(internal::abs(theta/theta_tot - t) < largeEps);
}
}
template<typename Scalar, int Options> void quaternion(void)
{
/* this test covers the following files:
@ -36,6 +65,7 @@ template<typename Scalar, int Options> void quaternion(void)
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar,Options> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
@ -50,7 +80,8 @@ template<typename Scalar, int Options> void quaternion(void)
v2 = Vector3::Random(),
v3 = Vector3::Random();
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)),
b = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
// Quaternion: Identity(), setIdentity();
Quaternionx q1, q2;
@ -124,6 +155,22 @@ template<typename Scalar, int Options> void quaternion(void)
// test bug 369 - improper alignment.
Quaternionx *q = new Quaternionx;
delete q;
q1 = AngleAxisx(a, v0.normalized());
q2 = AngleAxisx(b, v1.normalized());
check_slerp(q1,q2);
q1 = AngleAxisx(b, v1.normalized());
q2 = AngleAxisx(b+M_PI, v1.normalized());
check_slerp(q1,q2);
q1 = AngleAxisx(b, v1.normalized());
q2 = AngleAxisx(-b, -v1.normalized());
check_slerp(q1,q2);
q1.coeffs() = Vector4::Random().normalized();
q2.coeffs() = -q1.coeffs();
check_slerp(q1,q2);
}
template<typename Scalar> void mapQuaternion(void){