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Tweak geo_quaternion test to squash intermittent failures.

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This commit is contained in:
Jitse Niesen 2011-03-07 11:42:55 +00:00
parent bfcad536e8
commit 931edea57d
1 changed files with 10 additions and 2 deletions
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12
test/geo_quaternion.cpp
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@ -72,7 +72,7 @@ template<typename Scalar, int Options> void quaternion(void)
if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps) if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)
{ {
VERIFY(internal::isApprox(q1.angularDistance(q2), refangle, largeEps)); VERIFY_IS_MUCH_SMALLER_THAN(internal::abs(q1.angularDistance(q2) - refangle), Scalar(1));
} }
// rotation matrix conversion // rotation matrix conversion
@ -90,7 +90,15 @@ template<typename Scalar, int Options> void quaternion(void)
// angle-axis conversion // angle-axis conversion
AngleAxisx aa = AngleAxisx(q1); AngleAxisx aa = AngleAxisx(q1);
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);
// Do not execute the test if the rotation angle is almost zero, or
// the rotation axis and v1 are almost parallel.
if (internal::abs(aa.angle()) > 5*test_precision<Scalar>()
&& (aa.axis() - v1.normalized()).norm() < 1.99
&& (aa.axis() + v1.normalized()).norm() < 1.99)
{
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
}
// from two vector creation // from two vector creation
VERIFY_IS_APPROX( v2.normalized(),(q2.setFromTwoVectors(v1, v2)*v1).normalized()); VERIFY_IS_APPROX( v2.normalized(),(q2.setFromTwoVectors(v1, v2)*v1).normalized());