1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10#include "main.h"
11#include <Eigen/Geometry>
12#include <Eigen/LU>
13#include <Eigen/SVD>
14
15template<typename Scalar> void eulerangles(void)
16{
17  typedef Matrix<Scalar,3,3> Matrix3;
18  typedef Matrix<Scalar,3,1> Vector3;
19  typedef Quaternion<Scalar> Quaternionx;
20  typedef AngleAxis<Scalar> AngleAxisx;
21
22  Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
23  Quaternionx q1;
24  q1 = AngleAxisx(a, Vector3::Random().normalized());
25  Matrix3 m;
26  m = q1;
27
28  #define VERIFY_EULER(I,J,K, X,Y,Z) { \
29    Vector3 ea = m.eulerAngles(I,J,K); \
30    VERIFY_IS_APPROX(m,  Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
31  }
32  VERIFY_EULER(0,1,2, X,Y,Z);
33  VERIFY_EULER(0,1,0, X,Y,X);
34  VERIFY_EULER(0,2,1, X,Z,Y);
35  VERIFY_EULER(0,2,0, X,Z,X);
36
37  VERIFY_EULER(1,2,0, Y,Z,X);
38  VERIFY_EULER(1,2,1, Y,Z,Y);
39  VERIFY_EULER(1,0,2, Y,X,Z);
40  VERIFY_EULER(1,0,1, Y,X,Y);
41
42  VERIFY_EULER(2,0,1, Z,X,Y);
43  VERIFY_EULER(2,0,2, Z,X,Z);
44  VERIFY_EULER(2,1,0, Z,Y,X);
45  VERIFY_EULER(2,1,2, Z,Y,Z);
46}
47
48void test_geo_eulerangles()
49{
50  for(int i = 0; i < g_repeat; i++) {
51    CALL_SUBTEST_1( eulerangles<float>() );
52    CALL_SUBTEST_2( eulerangles<double>() );
53  }
54}
55