1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library 2c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// for linear algebra. 3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr> 5c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 6c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This Source Code Form is subject to the terms of the Mozilla 7c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Public License v. 2.0. If a copy of the MPL was not distributed 8c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 10c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include "main.h" 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <Eigen/Geometry> 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <Eigen/LU> 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <Eigen/SVD> 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Mode, int Options> void non_projective_only() 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /* this test covers the following files: 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Cross.h Quaternion.h, Transform.cpp 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,3,1> Vector3; 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Quaternion<Scalar> Quaternionx; 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef AngleAxis<Scalar> AngleAxisx; 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,3,Mode,Options> Transform3; 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef DiagonalMatrix<Scalar,3> AlignedScaling3; 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Translation<Scalar,3> Translation3; 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3 v0 = Vector3::Random(), 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath v1 = Vector3::Random(); 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 t0, t1, t2; 31c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Quaternionx q1, q2; 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath q1 = AngleAxisx(a, v0.normalized()); 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0 = Transform3::Identity(); 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 41c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.linear() = q1.toRotationMatrix(); 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath v0 << 50, 2, 1; 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v0); 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x()); 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.setIdentity(); 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath v1 << 1, 2, 3; 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.linear() = q1.toRotationMatrix(); 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.pretranslate(v0); 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v1); 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.linear() = q1.conjugate().toRotationMatrix(); 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.prescale(v1.cwiseInverse()); 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.translate(-v0); 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.fromPositionOrientationScale(v0, q1, v1); 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t1*v1, t0*v1); 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // translation * vector 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.translate(v0); 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 69c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // AlignedScaling * vector 70c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 71c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v0); 72c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1); 73c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 74c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 75c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Mode, int Options> void transformations() 76c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 77c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath /* this test covers the following files: 78c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Cross.h Quaternion.h, Transform.cpp 79c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath */ 807faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez using std::cos; 817faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez using std::abs; 82c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,3,3> Matrix3; 83c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,4,4> Matrix4; 84c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,2,1> Vector2; 85c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,3,1> Vector3; 86c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,4,1> Vector4; 87c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Quaternion<Scalar> Quaternionx; 88c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef AngleAxis<Scalar> AngleAxisx; 89c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,2,Mode,Options> Transform2; 90c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,3,Mode,Options> Transform3; 91c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename Transform3::MatrixType MatrixType; 92c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef DiagonalMatrix<Scalar,3> AlignedScaling3; 93c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Translation<Scalar,2> Translation2; 94c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Translation<Scalar,3> Translation3; 95c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 96c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3 v0 = Vector3::Random(), 97c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath v1 = Vector3::Random(); 98c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix3 matrot1, m; 99c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 100c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 101c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar s0 = internal::random<Scalar>(); 102c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 103c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); 104c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0); 1057faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0)); 106c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint(); 107c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized())); 108c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m); 109c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 110c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Quaternionx q1, q2; 111c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath q1 = AngleAxisx(a, v0.normalized()); 112c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath q2 = AngleAxisx(a, v1.normalized()); 113c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 114c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // rotation matrix conversion 115c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX()) 116c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * AngleAxisx(Scalar(0.2), Vector3::UnitY()) 117c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * AngleAxisx(Scalar(0.3), Vector3::UnitZ()); 118c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(matrot1 * v1, 119c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix() 120c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix() 121c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1))); 122c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 123c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // angle-axis conversion 124c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AngleAxisx aa = AngleAxisx(q1); 125c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); 126c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); 127c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 128c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath aa.fromRotationMatrix(aa.toRotationMatrix()); 129c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); 130c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1); 131c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 132c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // AngleAxis 133c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), 134c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix()); 135c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 136c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AngleAxisx aa1; 137c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m = q1.toRotationMatrix(); 138c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath aa1 = m; 139c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(), 140c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Quaternionx(m).toRotationMatrix()); 141c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 142c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // Transform 143c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // TODO complete the tests ! 144c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath a = 0; 1457faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez while (abs(a)<Scalar(0.1)) 146c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath a = internal::random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI)); 147c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath q1 = AngleAxisx(a, v0.normalized()); 148c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 t0, t1, t2; 149c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 150c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // first test setIdentity() and Identity() 151c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 152c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); 153c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.matrix().setZero(); 154c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0 = Transform3::Identity(); 155c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); 156c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 157c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 158c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.setIdentity(); 159c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath v1 << 1, 2, 3; 160c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.linear() = q1.toRotationMatrix(); 161c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.pretranslate(v0); 162c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v1); 163c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.linear() = q1.conjugate().toRotationMatrix(); 164c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.prescale(v1.cwiseInverse()); 165c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.translate(-v0); 166c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 167c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); 168c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 169c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.fromPositionOrientationScale(v0, q1, v1); 170c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); 171c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 172c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); 173c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1.setIdentity(); t1.scale(v0).rotate(q1); 174c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 175c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 176c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); 177c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 178c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 179c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); 180c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); 181c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 182c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // More transform constructors, operator=, operator*= 183c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 184c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix3 mat3 = Matrix3::Random(); 185c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix4 mat4; 186c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose(); 187c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 tmat3(mat3), tmat4(mat4); 188c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(Mode!=int(AffineCompact)) 189c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath tmat4.matrix()(3,3) = Scalar(1); 190c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix()); 191c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 192c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar a3 = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI)); 193c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector3 v3 = Vector3::Random().normalized(); 194c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AngleAxisx aa3(a3, v3); 195c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 t3(aa3); 196c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 t4; 197c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4 = aa3; 198c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); 199c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4.rotate(AngleAxisx(-a3,v3)); 200c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); 201c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4 *= aa3; 202c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); 203c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 204c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath v3 = Vector3::Random(); 205c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation3 tv3(v3); 206c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 t5(tv3); 207c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4 = tv3; 208c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); 209c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4.translate(-v3); 210c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); 211c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4 *= tv3; 212c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); 213c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 214c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AlignedScaling3 sv3(v3); 215c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform3 t6(sv3); 216c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4 = sv3; 217c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); 218c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4.scale(v3.cwiseInverse()); 219c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); 220c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t4 *= sv3; 221c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); 222c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 223c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // matrix * transform 224c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix()); 225c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 226c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // chained Transform product 227c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix()); 228c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 229c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // check that Transform product doesn't have aliasing problems 230c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t5 = t4; 231c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t5 = t5*t5; 232c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t5, t4*t4); 233c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 234c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // 2D transformation 235c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform2 t20, t21; 236c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector2 v20 = Vector2::Random(); 237c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector2 v21 = Vector2::Random(); 238c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for (int k=0; k<2; ++k) 2397faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez if (abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3); 240c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t21.setIdentity(); 241c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix(); 242c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(), 243c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t21.pretranslate(v20).scale(v21).matrix()); 244c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 245c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t21.setIdentity(); 246c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix(); 247c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) 248c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath * (t21.prescale(v21.cwiseInverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) ); 249c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 250c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // Transform - new API 251c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // 3D 252c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 253c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.rotate(q1).scale(v0).translate(v0); 254c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // mat * aligned scaling and mat * translation 255c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0); 256c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 257c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = (Matrix3(q1) * Eigen::Scaling(v0)) * Translation3(v0); 258c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 259c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = (q1 * Eigen::Scaling(v0)) * Translation3(v0); 260c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 261c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // mat * transformation and aligned scaling * translation 262c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0)); 263c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 264c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 265c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 266c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 267c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(s0).translate(v0); 268c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = Eigen::Scaling(s0) * Translation3(v0); 269c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 270c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.prescale(s0); 271c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = Eigen::Scaling(s0) * t1; 272c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 273c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 274c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0 = t3; 275c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(s0); 276c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t3 * Eigen::Scaling(s0,s0,s0); 277c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 278c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.prescale(s0); 279c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = Eigen::Scaling(s0,s0,s0) * t1; 280c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 281c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 2827faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t0 = t3; 2837faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t0.scale(s0); 2847faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t1 = t3 * Eigen::Scaling(s0); 2857faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 2867faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t0.prescale(s0); 2877faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t1 = Eigen::Scaling(s0) * t1; 2887faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 289c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 290c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 291c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.prerotate(q1).prescale(v0).pretranslate(v0); 292c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // translation * aligned scaling and transformation * mat 293c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1); 294c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 295c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // scaling * mat and translation * mat 296c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1)); 297c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 298c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 299c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 300c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v0).translate(v0).rotate(q1); 301c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // translation * mat and aligned scaling * transformation 302c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1)); 303c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 304c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // transformation * aligned scaling 305c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v0); 306c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 *= AlignedScaling3(v0); 307c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 308c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // transformation * translation 309c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.translate(v0); 310c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t1 * Translation3(v0); 311c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 312c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // translation * transformation 313c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.pretranslate(v0); 314c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = Translation3(v0) * t1; 315c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 316c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 317c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // transform * quaternion 318c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.rotate(q1); 319c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t1 * q1; 320c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 321c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 322c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // translation * quaternion 323c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.translate(v1).rotate(q1); 324c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t1 * (Translation3(v1) * q1); 325c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 326c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 327c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // aligned scaling * quaternion 328c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.scale(v1).rotate(q1); 329c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t1 * (AlignedScaling3(v1) * q1); 330c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 331c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 332c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // quaternion * transform 333c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.prerotate(q1); 334c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = q1 * t1; 335c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 336c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 337c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // quaternion * translation 338c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.rotate(q1).translate(v1); 339c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t1 * (q1 * Translation3(v1)); 340c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 341c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 342c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // quaternion * aligned scaling 343c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.rotate(q1).scale(v1); 344c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t1 = t1 * (q1 * AlignedScaling3(v1)); 345c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); 346c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 347c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // test transform inversion 348c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 349c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.translate(v0); 350c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.linear().setRandom(); 351c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix4 t044 = Matrix4::Zero(); 352c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t044(3,3) = 1; 353c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); 354c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); 355c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 356c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.translate(v0).rotate(q1); 357c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t044 = Matrix4::Zero(); 358c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t044(3,3) = 1; 359c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); 360c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); 361c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 362c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Matrix3 mat_rotation, mat_scaling; 363c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.setIdentity(); 364c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.translate(v0).rotate(q1).scale(v1); 365c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.computeRotationScaling(&mat_rotation, &mat_scaling); 366c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); 367c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); 368c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); 369c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath t0.computeScalingRotation(&mat_scaling, &mat_rotation); 370c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); 371c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); 372c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); 373c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 374c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // test casting 375c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<float,3,Mode> t1f = t1.template cast<float>(); 376c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1); 377c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Transform<double,3,Mode> t1d = t1.template cast<double>(); 378c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1); 379c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 380c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation3 tr1(v0); 381c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation<float,3> tr1f = tr1.template cast<float>(); 382c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1); 383c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Translation<double,3> tr1d = tr1.template cast<double>(); 384c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1); 385c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 386c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AngleAxis<float> aa1f = aa1.template cast<float>(); 387c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1); 388c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AngleAxis<double> aa1d = aa1.template cast<double>(); 389c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1); 390c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 391c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Rotation2D<Scalar> r2d1(internal::random<Scalar>()); 392c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Rotation2D<float> r2d1f = r2d1.template cast<float>(); 393c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1); 394c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Rotation2D<double> r2d1d = r2d1.template cast<double>(); 395c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1); 396c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 3977faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Eigen::Scaling(s0)); 3987faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Eigen::Scaling(s0); 399c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(t20,t21); 400c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 401c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 402c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar> void transform_alignment() 403c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 404c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,3,Projective,AutoAlign> Projective3a; 405c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,3,Projective,DontAlign> Projective3u; 406c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 407c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_ALIGN16 Scalar array1[16]; 408c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_ALIGN16 Scalar array2[16]; 409c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_ALIGN16 Scalar array3[16+1]; 410c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Scalar* array3u = array3+1; 411c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 412c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Projective3a *p1 = ::new(reinterpret_cast<void*>(array1)) Projective3a; 413c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Projective3u *p2 = ::new(reinterpret_cast<void*>(array2)) Projective3u; 414c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Projective3u *p3 = ::new(reinterpret_cast<void*>(array3u)) Projective3u; 415c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 416c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath p1->matrix().setRandom(); 417c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath *p2 = *p1; 418c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath *p3 = *p1; 419c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 420c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(p1->matrix(), p2->matrix()); 421c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX(p1->matrix(), p3->matrix()); 422c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 423c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX( (*p1) * (*p1), (*p2)*(*p3)); 424c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 425c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #if defined(EIGEN_VECTORIZE) && EIGEN_ALIGN_STATICALLY 426c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath if(internal::packet_traits<Scalar>::Vectorizable) 427c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Projective3a)); 428c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath #endif 429c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 430c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 431c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename Scalar, int Dim, int Options> void transform_products() 432c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 433c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Matrix<Scalar,Dim+1,Dim+1> Mat; 434c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,Dim,Projective,Options> Proj; 435c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,Dim,Affine,Options> Aff; 436c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef Transform<Scalar,Dim,AffineCompact,Options> AffC; 437c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 438c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Proj p; p.matrix().setRandom(); 439c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Aff a; a.linear().setRandom(); a.translation().setRandom(); 440c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath AffC ac = a; 441c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 442c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Mat p_m(p.matrix()), a_m(a.matrix()); 443c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 444c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m); 445c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m); 446c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m); 447c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m); 448c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m); 449c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m); 450c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m); 451c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); 452c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 453c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 454c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathvoid test_geo_transformations() 455c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 456c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for(int i = 0; i < g_repeat; i++) { 457c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_1(( transformations<double,Affine,AutoAlign>() )); 458c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_1(( non_projective_only<double,Affine,AutoAlign>() )); 459c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 460c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_2(( transformations<float,AffineCompact,AutoAlign>() )); 461c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_2(( non_projective_only<float,AffineCompact,AutoAlign>() )); 462c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_2(( transform_alignment<float>() )); 463c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 464c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() )); 465c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() )); 466c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_3(( transform_alignment<double>() )); 467c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 468c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() )); 469c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() )); 470c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 471c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_5(( transformations<double,AffineCompact,RowMajor|AutoAlign>() )); 472c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_5(( non_projective_only<double,AffineCompact,RowMajor>() )); 473c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 474c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|AutoAlign>() )); 475c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_6(( transformations<double,Projective,RowMajor|DontAlign>() )); 476c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 477c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 478c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_7(( transform_products<double,3,RowMajor|AutoAlign>() )); 479c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_7(( transform_products<float,2,AutoAlign>() )); 480c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 481c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 482