Lines Matching defs:ea
17 void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int k)
23 Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
27 /* If I==K, and ea[1]==0, then there no unique solution. */
28 /* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
29 if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(M_PI/2),test_precision<Scalar>())) )
30 VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
41 template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
43 verify_euler(ea, 0,1,2);
44 verify_euler(ea, 0,1,0);
45 verify_euler(ea, 0,2,1);
46 verify_euler(ea, 0,2,0);
48 verify_euler(ea, 1,2,0);
49 verify_euler(ea, 1,2,1);
50 verify_euler(ea, 1,0,2);
51 verify_euler(ea, 1,0,1);
53 verify_euler(ea, 2,0,1);
54 verify_euler(ea, 2,0,2);
55 verify_euler(ea, 2,1,0);
56 verify_euler(ea, 2,1,2);
73 Vector3 ea = m.eulerAngles(0,1,2);
74 check_all_var(ea);
75 ea = m.eulerAngles(0,1,0);
76 check_all_var(ea);
81 ea = m.eulerAngles(0,1,2);
82 check_all_var(ea);
83 ea = m.eulerAngles(0,1,0);
84 check_all_var(ea);
87 ea = (Array3::Random() + Array3(1,0,0))*Scalar(M_PI)*Array3(0.5,1,1);
88 check_all_var(ea);
90 ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(M_PI));
91 check_all_var(ea);
93 ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(M_PI));
94 check_all_var(ea);
96 ea[1] = 0;
97 check_all_var(ea);
99 ea.head(2).setZero();
100 check_all_var(ea);
102 ea.setZero();
103 check_all_var(ea);
