Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp
new file mode 100644
index 0000000..b4830bd
--- /dev/null
+++ b/test/geo_eulerangles.cpp
@@ -0,0 +1,112 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "main.h"
+#include <Eigen/Geometry>
+#include <Eigen/LU>
+#include <Eigen/SVD>
+
+
+template<typename Scalar>
+void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int k)
+{
+ typedef Matrix<Scalar,3,3> Matrix3;
+ typedef Matrix<Scalar,3,1> Vector3;
+ typedef AngleAxis<Scalar> AngleAxisx;
+ using std::abs;
+ Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
+ Vector3 eabis = m.eulerAngles(i, j, k);
+ Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
+ VERIFY_IS_APPROX(m, mbis);
+ /* If I==K, and ea[1]==0, then there no unique solution. */
+ /* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
+ if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(M_PI/2),test_precision<Scalar>())) )
+ VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
+
+ // approx_or_less_than does not work for 0
+ VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
+ VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(M_PI));
+ VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[1]);
+ VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(M_PI));
+ VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[2]);
+ VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(M_PI));
+}
+
+template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
+{
+ verify_euler(ea, 0,1,2);
+ verify_euler(ea, 0,1,0);
+ verify_euler(ea, 0,2,1);
+ verify_euler(ea, 0,2,0);
+
+ verify_euler(ea, 1,2,0);
+ verify_euler(ea, 1,2,1);
+ verify_euler(ea, 1,0,2);
+ verify_euler(ea, 1,0,1);
+
+ verify_euler(ea, 2,0,1);
+ verify_euler(ea, 2,0,2);
+ verify_euler(ea, 2,1,0);
+ verify_euler(ea, 2,1,2);
+}
+
+template<typename Scalar> void eulerangles()
+{
+ typedef Matrix<Scalar,3,3> Matrix3;
+ typedef Matrix<Scalar,3,1> Vector3;
+ typedef Array<Scalar,3,1> Array3;
+ typedef Quaternion<Scalar> Quaternionx;
+ typedef AngleAxis<Scalar> AngleAxisx;
+
+ Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
+ Quaternionx q1;
+ q1 = AngleAxisx(a, Vector3::Random().normalized());
+ Matrix3 m;
+ m = q1;
+
+ Vector3 ea = m.eulerAngles(0,1,2);
+ check_all_var(ea);
+ ea = m.eulerAngles(0,1,0);
+ check_all_var(ea);
+
+ // Check with purely random Quaternion:
+ q1.coeffs() = Quaternionx::Coefficients::Random().normalized();
+ m = q1;
+ ea = m.eulerAngles(0,1,2);
+ check_all_var(ea);
+ ea = m.eulerAngles(0,1,0);
+ check_all_var(ea);
+
+ // Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi].
+ ea = (Array3::Random() + Array3(1,0,0))*Scalar(M_PI)*Array3(0.5,1,1);
+ check_all_var(ea);
+
+ ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(M_PI));
+ check_all_var(ea);
+
+ ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(M_PI));
+ check_all_var(ea);
+
+ ea[1] = 0;
+ check_all_var(ea);
+
+ ea.head(2).setZero();
+ check_all_var(ea);
+
+ ea.setZero();
+ check_all_var(ea);
+}
+
+void test_geo_eulerangles()
+{
+ for(int i = 0; i < g_repeat; i++) {
+ CALL_SUBTEST_1( eulerangles<float>() );
+ CALL_SUBTEST_2( eulerangles<double>() );
+ }
+}