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915587d03d
as an argument of a function. Other possibilities for the name could be "end" or "matrix" ?? * various update in Quaternion, in particular I added a lot of FIXME about the API options, these have to be discussed and fixed.
94 lines
3.2 KiB
C++
94 lines
3.2 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra. Eigen itself is part of the KDE project.
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//
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// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#include "main.h"
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#include <Eigen/Geometry>
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template<typename Scalar> void geometry(void)
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{
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/* this test covers the following files:
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Cross.h Quaternion.h
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*/
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,4,4> Matrix4;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Matrix<Scalar,4,1> Vector4;
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typedef Quaternion<Scalar> Quaternion;
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Quaternion q1, q2;
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Vector3 v0 = Vector3::random(),
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v1 = Vector3::random(),
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v2 = Vector3::random();
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Scalar a;
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q1.fromAngleAxis(ei_random<Scalar>(-M_PI, M_PI), v0.normalized());
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q2.fromAngleAxis(ei_random<Scalar>(-M_PI, M_PI), v1.normalized());
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// rotation matrix conversion
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VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
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VERIFY_IS_APPROX(q1 * q2 * v2,
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q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
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VERIFY_IS_NOT_APPROX(q2 * q1 * v2,
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q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
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q2.fromRotationMatrix(q1.toRotationMatrix());
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VERIFY_IS_APPROX(q1*v1,q2*v1);
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// Euler angle conversion
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VERIFY_IS_APPROX(q2.fromEulerAngles(q1.toEulerAngles()) * v1, q1 * v1);
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v2 = q2.toEulerAngles();
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VERIFY_IS_APPROX(q2.fromEulerAngles(v2).toEulerAngles(), v2);
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VERIFY_IS_NOT_APPROX(q2.fromEulerAngles(v2.cwiseProduct(Vector3(0.2,-0.2,1))).toEulerAngles(), v2);
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// angle-axis conversion
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q1.toAngleAxis(a, v2);
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VERIFY_IS_APPROX(q1 * v1, q2.fromAngleAxis(a,v2) * v1);
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VERIFY_IS_NOT_APPROX(q1 * v1, q2.fromAngleAxis(2*a,v2) * v1);
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// from two vector creation
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VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
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VERIFY_IS_APPROX(v2.normalized(),(q2.fromTwoVectors(v1,v2)*v1).normalized());
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// inverse and conjugate
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VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
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VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
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// cross product
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VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
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Matrix3 m;
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m << v0.normalized(),
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(v0.cross(v1)).normalized(),
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(v0.cross(v1).cross(v0)).normalized();
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VERIFY(m.isOrtho());
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}
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void test_geometry()
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{
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for(int i = 0; i < g_repeat; i++) {
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CALL_SUBTEST( geometry<float>() );
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CALL_SUBTEST( geometry<double>() );
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}
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}
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