[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra. Eigen itself is part of the KDE project.
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| 3 | //
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| 4 | // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
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| 5 | //
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| 6 | // This Source Code Form is subject to the terms of the Mozilla
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| 7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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| 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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| 9 |
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| 10 | #include "main.h"
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| 11 | #include <Eigen/Geometry>
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| 12 | #include <Eigen/LU>
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| 13 | #include <Eigen/SVD>
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| 14 |
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| 15 | template<typename Scalar> void geometry(void)
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| 16 | {
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| 17 | /* this test covers the following files:
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| 18 | Cross.h Quaternion.h, Transform.cpp
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| 19 | */
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| 20 |
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| 21 | typedef Matrix<Scalar,2,2> Matrix2;
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| 22 | typedef Matrix<Scalar,3,3> Matrix3;
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| 23 | typedef Matrix<Scalar,4,4> Matrix4;
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| 24 | typedef Matrix<Scalar,2,1> Vector2;
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| 25 | typedef Matrix<Scalar,3,1> Vector3;
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| 26 | typedef Matrix<Scalar,4,1> Vector4;
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| 27 | typedef Quaternion<Scalar> Quaternionx;
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| 28 | typedef AngleAxis<Scalar> AngleAxisx;
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| 29 | typedef Transform<Scalar,2> Transform2;
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| 30 | typedef Transform<Scalar,3> Transform3;
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| 31 | typedef Scaling<Scalar,2> Scaling2;
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| 32 | typedef Scaling<Scalar,3> Scaling3;
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| 33 | typedef Translation<Scalar,2> Translation2;
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| 34 | typedef Translation<Scalar,3> Translation3;
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| 35 |
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| 36 | Scalar largeEps = test_precision<Scalar>();
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| 37 | if (ei_is_same_type<Scalar,float>::ret)
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| 38 | largeEps = 1e-2f;
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| 39 |
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| 40 | Vector3 v0 = Vector3::Random(),
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| 41 | v1 = Vector3::Random(),
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| 42 | v2 = Vector3::Random();
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| 43 | Vector2 u0 = Vector2::Random();
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| 44 | Matrix3 matrot1;
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| 45 |
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| 46 | Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
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| 47 |
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| 48 | // cross product
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| 49 | VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).eigen2_dot(v1), Scalar(1));
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| 50 | Matrix3 m;
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| 51 | m << v0.normalized(),
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| 52 | (v0.cross(v1)).normalized(),
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| 53 | (v0.cross(v1).cross(v0)).normalized();
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| 54 | VERIFY(m.isUnitary());
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| 55 |
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| 56 | // Quaternion: Identity(), setIdentity();
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| 57 | Quaternionx q1, q2;
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| 58 | q2.setIdentity();
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| 59 | VERIFY_IS_APPROX(Quaternionx(Quaternionx::Identity()).coeffs(), q2.coeffs());
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| 60 | q1.coeffs().setRandom();
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| 61 | VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());
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| 62 |
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| 63 | // unitOrthogonal
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| 64 | VERIFY_IS_MUCH_SMALLER_THAN(u0.unitOrthogonal().eigen2_dot(u0), Scalar(1));
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| 65 | VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().eigen2_dot(v0), Scalar(1));
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| 66 | VERIFY_IS_APPROX(u0.unitOrthogonal().norm(), Scalar(1));
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| 67 | VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1));
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| 68 |
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| 69 |
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| 70 | VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
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| 71 | VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
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| 72 | VERIFY_IS_APPROX(ei_cos(a)*v0.squaredNorm(), v0.eigen2_dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
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| 73 | m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
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| 74 | VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
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| 75 | VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
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| 76 |
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| 77 | q1 = AngleAxisx(a, v0.normalized());
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| 78 | q2 = AngleAxisx(a, v1.normalized());
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| 79 |
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| 80 | // angular distance
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| 81 | Scalar refangle = ei_abs(AngleAxisx(q1.inverse()*q2).angle());
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| 82 | if (refangle>Scalar(M_PI))
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| 83 | refangle = Scalar(2)*Scalar(M_PI) - refangle;
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| 84 |
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| 85 | if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)
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| 86 | {
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| 87 | VERIFY(ei_isApprox(q1.angularDistance(q2), refangle, largeEps));
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| 88 | }
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| 89 |
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| 90 | // rotation matrix conversion
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| 91 | VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
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| 92 | VERIFY_IS_APPROX(q1 * q2 * v2,
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| 93 | q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
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| 94 |
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| 95 | VERIFY( (q2*q1).isApprox(q1*q2, largeEps) || !(q2 * q1 * v2).isApprox(
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| 96 | q1.toRotationMatrix() * q2.toRotationMatrix() * v2));
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| 97 |
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| 98 | q2 = q1.toRotationMatrix();
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| 99 | VERIFY_IS_APPROX(q1*v1,q2*v1);
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| 100 |
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| 101 | matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
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| 102 | * AngleAxisx(Scalar(0.2), Vector3::UnitY())
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| 103 | * AngleAxisx(Scalar(0.3), Vector3::UnitZ());
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| 104 | VERIFY_IS_APPROX(matrot1 * v1,
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| 105 | AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
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| 106 | * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
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| 107 | * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
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| 108 |
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| 109 | // angle-axis conversion
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| 110 | AngleAxisx aa = q1;
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| 111 | VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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| 112 | VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
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| 113 |
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| 114 | // from two vector creation
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| 115 | VERIFY_IS_APPROX(v2.normalized(),(q2.setFromTwoVectors(v1,v2)*v1).normalized());
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| 116 | VERIFY_IS_APPROX(v2.normalized(),(q2.setFromTwoVectors(v1,v2)*v1).normalized());
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| 117 |
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| 118 | // inverse and conjugate
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| 119 | VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
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| 120 | VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
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| 121 |
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| 122 | // AngleAxis
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| 123 | VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
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| 124 | Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
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| 125 |
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| 126 | AngleAxisx aa1;
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| 127 | m = q1.toRotationMatrix();
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| 128 | aa1 = m;
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| 129 | VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
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| 130 | Quaternionx(m).toRotationMatrix());
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| 131 |
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| 132 | // Transform
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| 133 | // TODO complete the tests !
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| 134 | a = 0;
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| 135 | while (ei_abs(a)<Scalar(0.1))
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| 136 | a = ei_random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI));
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| 137 | q1 = AngleAxisx(a, v0.normalized());
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| 138 | Transform3 t0, t1, t2;
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| 139 | // first test setIdentity() and Identity()
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| 140 | t0.setIdentity();
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| 141 | VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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| 142 | t0.matrix().setZero();
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| 143 | t0 = Transform3::Identity();
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| 144 | VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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| 145 |
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| 146 | t0.linear() = q1.toRotationMatrix();
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| 147 | t1.setIdentity();
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| 148 | t1.linear() = q1.toRotationMatrix();
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| 149 |
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| 150 | v0 << 50, 2, 1;//= ei_random_matrix<Vector3>().cwiseProduct(Vector3(10,2,0.5));
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| 151 | t0.scale(v0);
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| 152 | t1.prescale(v0);
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| 153 |
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| 154 | VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x());
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| 155 | //VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
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| 156 |
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| 157 | t0.setIdentity();
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| 158 | t1.setIdentity();
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| 159 | v1 << 1, 2, 3;
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| 160 | t0.linear() = q1.toRotationMatrix();
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| 161 | t0.pretranslate(v0);
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| 162 | t0.scale(v1);
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| 163 | t1.linear() = q1.conjugate().toRotationMatrix();
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| 164 | t1.prescale(v1.cwise().inverse());
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| 165 | t1.translate(-v0);
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| 166 |
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| 167 | VERIFY((t0.matrix() * t1.matrix()).isIdentity(test_precision<Scalar>()));
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| 168 |
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| 169 | t1.fromPositionOrientationScale(v0, q1, v1);
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| 170 | VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
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| 171 | VERIFY_IS_APPROX(t1*v1, t0*v1);
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| 172 |
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| 173 | t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
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| 174 | t1.setIdentity(); t1.scale(v0).rotate(q1);
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| 175 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 176 |
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| 177 | t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
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| 178 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 179 |
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| 180 | VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
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| 181 | VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
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| 182 |
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| 183 | // More transform constructors, operator=, operator*=
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| 184 |
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| 185 | Matrix3 mat3 = Matrix3::Random();
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| 186 | Matrix4 mat4;
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| 187 | mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
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| 188 | Transform3 tmat3(mat3), tmat4(mat4);
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| 189 | tmat4.matrix()(3,3) = Scalar(1);
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| 190 | VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
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| 191 |
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| 192 | Scalar a3 = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
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| 193 | Vector3 v3 = Vector3::Random().normalized();
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| 194 | AngleAxisx aa3(a3, v3);
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| 195 | Transform3 t3(aa3);
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| 196 | Transform3 t4;
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| 197 | t4 = aa3;
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| 198 | VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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| 199 | t4.rotate(AngleAxisx(-a3,v3));
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| 200 | VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
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| 201 | t4 *= aa3;
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| 202 | VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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| 203 |
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| 204 | v3 = Vector3::Random();
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| 205 | Translation3 tv3(v3);
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| 206 | Transform3 t5(tv3);
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| 207 | t4 = tv3;
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| 208 | VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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| 209 | t4.translate(-v3);
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| 210 | VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
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| 211 | t4 *= tv3;
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| 212 | VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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| 213 |
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| 214 | Scaling3 sv3(v3);
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| 215 | Transform3 t6(sv3);
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| 216 | t4 = sv3;
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| 217 | VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
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| 218 | t4.scale(v3.cwise().inverse());
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| 219 | VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
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| 220 | t4 *= sv3;
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| 221 | VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
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| 222 |
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| 223 | // matrix * transform
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| 224 | VERIFY_IS_APPROX(Transform3(t3.matrix()*t4).matrix(), Transform3(t3*t4).matrix());
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| 225 |
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| 226 | // chained Transform product
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| 227 | VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
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| 228 |
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| 229 | // check that Transform product doesn't have aliasing problems
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| 230 | t5 = t4;
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| 231 | t5 = t5*t5;
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| 232 | VERIFY_IS_APPROX(t5, t4*t4);
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| 233 |
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| 234 | // 2D transformation
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| 235 | Transform2 t20, t21;
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| 236 | Vector2 v20 = Vector2::Random();
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| 237 | Vector2 v21 = Vector2::Random();
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| 238 | for (int k=0; k<2; ++k)
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| 239 | if (ei_abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3);
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| 240 | t21.setIdentity();
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| 241 | t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
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| 242 | VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
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| 243 | t21.pretranslate(v20).scale(v21).matrix());
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| 244 |
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| 245 | t21.setIdentity();
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| 246 | t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
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| 247 | VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
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| 248 | * (t21.prescale(v21.cwise().inverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) );
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| 249 |
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| 250 | // Transform - new API
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| 251 | // 3D
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| 252 | t0.setIdentity();
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| 253 | t0.rotate(q1).scale(v0).translate(v0);
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| 254 | // mat * scaling and mat * translation
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| 255 | t1 = (Matrix3(q1) * Scaling3(v0)) * Translation3(v0);
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| 256 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 257 | // mat * transformation and scaling * translation
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| 258 | t1 = Matrix3(q1) * (Scaling3(v0) * Translation3(v0));
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| 259 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 260 |
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| 261 | t0.setIdentity();
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| 262 | t0.prerotate(q1).prescale(v0).pretranslate(v0);
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| 263 | // translation * scaling and transformation * mat
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| 264 | t1 = (Translation3(v0) * Scaling3(v0)) * Matrix3(q1);
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| 265 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 266 | // scaling * mat and translation * mat
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| 267 | t1 = Translation3(v0) * (Scaling3(v0) * Matrix3(q1));
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| 268 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 269 |
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| 270 | t0.setIdentity();
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| 271 | t0.scale(v0).translate(v0).rotate(q1);
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| 272 | // translation * mat and scaling * transformation
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| 273 | t1 = Scaling3(v0) * (Translation3(v0) * Matrix3(q1));
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| 274 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 275 | // transformation * scaling
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| 276 | t0.scale(v0);
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| 277 | t1 = t1 * Scaling3(v0);
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| 278 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 279 | // transformation * translation
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| 280 | t0.translate(v0);
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| 281 | t1 = t1 * Translation3(v0);
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| 282 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 283 | // translation * transformation
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| 284 | t0.pretranslate(v0);
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| 285 | t1 = Translation3(v0) * t1;
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| 286 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 287 |
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| 288 | // transform * quaternion
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| 289 | t0.rotate(q1);
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| 290 | t1 = t1 * q1;
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| 291 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 292 |
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| 293 | // translation * quaternion
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| 294 | t0.translate(v1).rotate(q1);
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| 295 | t1 = t1 * (Translation3(v1) * q1);
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| 296 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 297 |
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| 298 | // scaling * quaternion
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| 299 | t0.scale(v1).rotate(q1);
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| 300 | t1 = t1 * (Scaling3(v1) * q1);
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| 301 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 302 |
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| 303 | // quaternion * transform
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| 304 | t0.prerotate(q1);
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| 305 | t1 = q1 * t1;
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| 306 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 307 |
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| 308 | // quaternion * translation
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| 309 | t0.rotate(q1).translate(v1);
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| 310 | t1 = t1 * (q1 * Translation3(v1));
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| 311 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 312 |
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| 313 | // quaternion * scaling
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| 314 | t0.rotate(q1).scale(v1);
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| 315 | t1 = t1 * (q1 * Scaling3(v1));
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| 316 | VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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| 317 |
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| 318 | // translation * vector
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| 319 | t0.setIdentity();
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| 320 | t0.translate(v0);
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| 321 | VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1);
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| 322 |
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| 323 | // scaling * vector
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| 324 | t0.setIdentity();
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| 325 | t0.scale(v0);
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| 326 | VERIFY_IS_APPROX(t0 * v1, Scaling3(v0) * v1);
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| 327 |
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| 328 | // test transform inversion
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| 329 | t0.setIdentity();
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| 330 | t0.translate(v0);
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| 331 | t0.linear().setRandom();
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| 332 | VERIFY_IS_APPROX(t0.inverse(Affine), t0.matrix().inverse());
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| 333 | t0.setIdentity();
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| 334 | t0.translate(v0).rotate(q1);
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| 335 | VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse());
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| 336 |
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| 337 | // test extract rotation and scaling
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| 338 | t0.setIdentity();
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| 339 | t0.translate(v0).rotate(q1).scale(v1);
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| 340 | VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1);
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| 341 |
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| 342 | Matrix3 mat_rotation, mat_scaling;
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| 343 | t0.setIdentity();
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| 344 | t0.translate(v0).rotate(q1).scale(v1);
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| 345 | t0.computeRotationScaling(&mat_rotation, &mat_scaling);
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| 346 | VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling);
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| 347 | VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
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| 348 | VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
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| 349 | t0.computeScalingRotation(&mat_scaling, &mat_rotation);
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| 350 | VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation);
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| 351 | VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
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| 352 | VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
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| 353 |
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| 354 | // test casting
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| 355 | Transform<float,3> t1f = t1.template cast<float>();
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| 356 | VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1);
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| 357 | Transform<double,3> t1d = t1.template cast<double>();
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| 358 | VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1);
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| 359 |
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| 360 | Translation3 tr1(v0);
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| 361 | Translation<float,3> tr1f = tr1.template cast<float>();
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| 362 | VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1);
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| 363 | Translation<double,3> tr1d = tr1.template cast<double>();
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| 364 | VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1);
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| 365 |
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| 366 | Scaling3 sc1(v0);
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| 367 | Scaling<float,3> sc1f = sc1.template cast<float>();
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| 368 | VERIFY_IS_APPROX(sc1f.template cast<Scalar>(),sc1);
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| 369 | Scaling<double,3> sc1d = sc1.template cast<double>();
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| 370 | VERIFY_IS_APPROX(sc1d.template cast<Scalar>(),sc1);
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| 371 |
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| 372 | Quaternion<float> q1f = q1.template cast<float>();
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| 373 | VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);
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| 374 | Quaternion<double> q1d = q1.template cast<double>();
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| 375 | VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);
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| 376 |
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| 377 | AngleAxis<float> aa1f = aa1.template cast<float>();
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| 378 | VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1);
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| 379 | AngleAxis<double> aa1d = aa1.template cast<double>();
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| 380 | VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1);
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| 381 |
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| 382 | Rotation2D<Scalar> r2d1(ei_random<Scalar>());
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| 383 | Rotation2D<float> r2d1f = r2d1.template cast<float>();
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| 384 | VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1);
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| 385 | Rotation2D<double> r2d1d = r2d1.template cast<double>();
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| 386 | VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
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| 387 |
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| 388 | m = q1;
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| 389 | // m.col(1) = Vector3(0,ei_random<Scalar>(),ei_random<Scalar>()).normalized();
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| 390 | // m.col(0) = Vector3(-1,0,0).normalized();
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| 391 | // m.col(2) = m.col(0).cross(m.col(1));
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| 392 | #define VERIFY_EULER(I,J,K, X,Y,Z) { \
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| 393 | Vector3 ea = m.eulerAngles(I,J,K); \
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| 394 | Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
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| 395 | VERIFY_IS_APPROX(m, m1); \
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| 396 | VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
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| 397 | }
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| 398 | VERIFY_EULER(0,1,2, X,Y,Z);
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| 399 | VERIFY_EULER(0,1,0, X,Y,X);
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| 400 | VERIFY_EULER(0,2,1, X,Z,Y);
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| 401 | VERIFY_EULER(0,2,0, X,Z,X);
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| 402 |
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| 403 | VERIFY_EULER(1,2,0, Y,Z,X);
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| 404 | VERIFY_EULER(1,2,1, Y,Z,Y);
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| 405 | VERIFY_EULER(1,0,2, Y,X,Z);
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| 406 | VERIFY_EULER(1,0,1, Y,X,Y);
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| 407 |
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| 408 | VERIFY_EULER(2,0,1, Z,X,Y);
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| 409 | VERIFY_EULER(2,0,2, Z,X,Z);
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| 410 | VERIFY_EULER(2,1,0, Z,Y,X);
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| 411 | VERIFY_EULER(2,1,2, Z,Y,Z);
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| 412 |
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| 413 | // colwise/rowwise cross product
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| 414 | mat3.setRandom();
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| 415 | Vector3 vec3 = Vector3::Random();
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| 416 | Matrix3 mcross;
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| 417 | int i = ei_random<int>(0,2);
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| 418 | mcross = mat3.colwise().cross(vec3);
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| 419 | VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
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| 420 | mcross = mat3.rowwise().cross(vec3);
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| 421 | VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
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| 422 |
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| 423 |
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| 424 | }
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| 425 |
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| 426 | void test_eigen2_geometry()
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| 427 | {
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| 428 | for(int i = 0; i < g_repeat; i++) {
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| 429 | CALL_SUBTEST_1( geometry<float>() );
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| 430 | CALL_SUBTEST_2( geometry<double>() );
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| 431 | }
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| 432 | }
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