Lines Matching refs:t1
138 Transform3 t0, t1, t2;
147 t1.setIdentity();
148 t1.linear() = q1.toRotationMatrix();
152 t1.prescale(v0);
155 //VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
158 t1.setIdentity();
163 t1.linear() = q1.conjugate().toRotationMatrix();
164 t1.prescale(v1.cwise().inverse());
165 t1.translate(-v0);
167 VERIFY((t0.matrix() * t1.matrix()).isIdentity(test_precision<Scalar>()));
169 t1.fromPositionOrientationScale(v0, q1, v1);
170 VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
171 VERIFY_IS_APPROX(t1*v1, t0*v1);
174 t1.setIdentity(); t1.scale(v0).rotate(q1);
175 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
178 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
180 VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
181 VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
255 t1 = (Matrix3(q1) * Scaling3(v0)) * Translation3(v0);
256 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
258 t1 = Matrix3(q1) * (Scaling3(v0) * Translation3(v0));
259 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
264 t1 = (Translation3(v0) * Scaling3(v0)) * Matrix3(q1);
265 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
267 t1 = Translation3(v0) * (Scaling3(v0) * Matrix3(q1));
268 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
273 t1 = Scaling3(v0) * (Translation3(v0) * Matrix3(q1));
274 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
277 t1 = t1 * Scaling3(v0);
278 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
281 t1 = t1 * Translation3(v0);
282 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
285 t1 = Translation3(v0) * t1;
286 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
290 t1 = t1 * q1;
291 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
295 t1 = t1 * (Translation3(v1) * q1);
296 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
300 t1 = t1 * (Scaling3(v1) * q1);
301 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
305 t1 = q1 * t1;
306 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
310 t1 = t1 * (q1 * Translation3(v1));
311 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
315 t1 = t1 * (q1 * Scaling3(v1));
316 VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
355 Transform<float,3> t1f = t1.template cast<float>();
356 VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1);
357 Transform<double,3> t1d = t1.template cast<double>();
358 VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1);
