1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud (at) inria.fr> 5 // 6 // This Source Code Form is subject to the terms of the Mozilla 7 // Public License v. 2.0. If a copy of the MPL was not distributed 8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 10 #include "main.h" 11 #include <Eigen/Geometry> 12 #include <Eigen/LU> 13 #include <Eigen/SVD> 14 15 template<typename Scalar> void eulerangles(void) 16 { 17 typedef Matrix<Scalar,3,3> Matrix3; 18 typedef Matrix<Scalar,3,1> Vector3; 19 typedef Quaternion<Scalar> Quaternionx; 20 typedef AngleAxis<Scalar> AngleAxisx; 21 22 Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 23 Quaternionx q1; 24 q1 = AngleAxisx(a, Vector3::Random().normalized()); 25 Matrix3 m; 26 m = q1; 27 28 #define VERIFY_EULER(I,J,K, X,Y,Z) { \ 29 Vector3 ea = m.eulerAngles(I,J,K); \ 30 VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \ 31 } 32 VERIFY_EULER(0,1,2, X,Y,Z); 33 VERIFY_EULER(0,1,0, X,Y,X); 34 VERIFY_EULER(0,2,1, X,Z,Y); 35 VERIFY_EULER(0,2,0, X,Z,X); 36 37 VERIFY_EULER(1,2,0, Y,Z,X); 38 VERIFY_EULER(1,2,1, Y,Z,Y); 39 VERIFY_EULER(1,0,2, Y,X,Z); 40 VERIFY_EULER(1,0,1, Y,X,Y); 41 42 VERIFY_EULER(2,0,1, Z,X,Y); 43 VERIFY_EULER(2,0,2, Z,X,Z); 44 VERIFY_EULER(2,1,0, Z,Y,X); 45 VERIFY_EULER(2,1,2, Z,Y,Z); 46 } 47 48 void test_geo_eulerangles() 49 { 50 for(int i = 0; i < g_repeat; i++) { 51 CALL_SUBTEST_1( eulerangles<float>() ); 52 CALL_SUBTEST_2( eulerangles<double>() ); 53 } 54 } 55
