[136] | 1 | // This file is part of Eigen, a lightweight C++ template library
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| 2 | // for linear algebra.
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| 3 | //
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| 4 | // Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.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 |
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| 16 | template<typename Scalar>
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| 17 | void verify_euler(const Matrix<Scalar,3,1>& ea, int i, int j, int k)
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| 18 | {
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| 19 | typedef Matrix<Scalar,3,3> Matrix3;
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| 20 | typedef Matrix<Scalar,3,1> Vector3;
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| 21 | typedef AngleAxis<Scalar> AngleAxisx;
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| 22 | using std::abs;
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| 23 | Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
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| 24 | Vector3 eabis = m.eulerAngles(i, j, k);
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| 25 | Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
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| 26 | VERIFY_IS_APPROX(m, mbis);
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| 27 | /* If I==K, and ea[1]==0, then there no unique solution. */
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| 28 | /* The remark apply in the case where I!=K, and |ea[1]| is close to pi/2. */
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| 29 | if( (i!=k || ea[1]!=0) && (i==k || !internal::isApprox(abs(ea[1]),Scalar(M_PI/2),test_precision<Scalar>())) )
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| 30 | VERIFY((ea-eabis).norm() <= test_precision<Scalar>());
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| 31 |
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| 32 | // approx_or_less_than does not work for 0
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| 33 | VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
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| 34 | VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(M_PI));
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| 35 | VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[1]);
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| 36 | VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(M_PI));
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| 37 | VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(M_PI), eabis[2]);
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| 38 | VERIFY_IS_APPROX_OR_LESS_THAN(eabis[2], Scalar(M_PI));
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| 39 | }
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| 40 |
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| 41 | template<typename Scalar> void check_all_var(const Matrix<Scalar,3,1>& ea)
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| 42 | {
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| 43 | verify_euler(ea, 0,1,2);
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| 44 | verify_euler(ea, 0,1,0);
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| 45 | verify_euler(ea, 0,2,1);
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| 46 | verify_euler(ea, 0,2,0);
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| 47 |
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| 48 | verify_euler(ea, 1,2,0);
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| 49 | verify_euler(ea, 1,2,1);
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| 50 | verify_euler(ea, 1,0,2);
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| 51 | verify_euler(ea, 1,0,1);
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| 52 |
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| 53 | verify_euler(ea, 2,0,1);
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| 54 | verify_euler(ea, 2,0,2);
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| 55 | verify_euler(ea, 2,1,0);
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| 56 | verify_euler(ea, 2,1,2);
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| 57 | }
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| 58 |
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| 59 | template<typename Scalar> void eulerangles()
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| 60 | {
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| 61 | typedef Matrix<Scalar,3,3> Matrix3;
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| 62 | typedef Matrix<Scalar,3,1> Vector3;
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| 63 | typedef Array<Scalar,3,1> Array3;
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| 64 | typedef Quaternion<Scalar> Quaternionx;
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| 65 | typedef AngleAxis<Scalar> AngleAxisx;
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| 66 |
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| 67 | Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
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| 68 | Quaternionx q1;
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| 69 | q1 = AngleAxisx(a, Vector3::Random().normalized());
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| 70 | Matrix3 m;
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| 71 | m = q1;
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| 72 |
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| 73 | Vector3 ea = m.eulerAngles(0,1,2);
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| 74 | check_all_var(ea);
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| 75 | ea = m.eulerAngles(0,1,0);
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| 76 | check_all_var(ea);
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| 77 |
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| 78 | // Check with purely random Quaternion:
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| 79 | q1.coeffs() = Quaternionx::Coefficients::Random().normalized();
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| 80 | m = q1;
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| 81 | ea = m.eulerAngles(0,1,2);
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| 82 | check_all_var(ea);
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| 83 | ea = m.eulerAngles(0,1,0);
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| 84 | check_all_var(ea);
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| 85 |
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| 86 | // Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi].
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| 87 | ea = (Array3::Random() + Array3(1,0,0))*Scalar(M_PI)*Array3(0.5,1,1);
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| 88 | check_all_var(ea);
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| 89 |
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| 90 | ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(M_PI));
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| 91 | check_all_var(ea);
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| 92 |
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| 93 | ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(M_PI));
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| 94 | check_all_var(ea);
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| 95 |
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| 96 | ea[1] = 0;
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| 97 | check_all_var(ea);
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| 98 |
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| 99 | ea.head(2).setZero();
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| 100 | check_all_var(ea);
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| 101 |
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| 102 | ea.setZero();
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| 103 | check_all_var(ea);
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| 104 | }
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| 105 |
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| 106 | void test_geo_eulerangles()
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| 107 | {
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| 108 | for(int i = 0; i < g_repeat; i++) {
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| 109 | CALL_SUBTEST_1( eulerangles<float>() );
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| 110 | CALL_SUBTEST_2( eulerangles<double>() );
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| 111 | }
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| 112 | }
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