| 153 | } |
| 154 | |
| 155 | template<typename Scalar> void eulerangles() |
| 156 | { |
| 157 | typedef Matrix<Scalar,3,3> Matrix3; |
| 158 | typedef Matrix<Scalar,3,1> Vector3; |
| 159 | typedef Array<Scalar,3,1> Array3; |
| 160 | typedef Quaternion<Scalar> Quaternionx; |
| 161 | typedef AngleAxis<Scalar> AngleAxisType; |
| 162 | |
| 163 | Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI)); |
| 164 | Quaternionx q1; |
| 165 | q1 = AngleAxisType(a, Vector3::Random().normalized()); |
| 166 | Matrix3 m; |
| 167 | m = q1; |
| 168 | |
| 169 | Vector3 ea = m.eulerAngles(0,1,2); |
| 170 | check_all_var(ea); |
| 171 | ea = m.eulerAngles(0,1,0); |
| 172 | check_all_var(ea); |
| 173 | |
| 174 | // Check with purely random Quaternion: |
| 175 | q1.coeffs() = Quaternionx::Coefficients::Random().normalized(); |
| 176 | m = q1; |
| 177 | ea = m.eulerAngles(0,1,2); |
| 178 | check_all_var(ea); |
| 179 | ea = m.eulerAngles(0,1,0); |
| 180 | check_all_var(ea); |
| 181 | |
| 182 | // Check with random angles in range [0:pi]x[-pi:pi]x[-pi:pi]. |
| 183 | ea = (Array3::Random() + Array3(1,0,0))*Scalar(EIGEN_PI)*Array3(0.5,1,1); |
| 184 | check_all_var(ea); |
| 185 | |
| 186 | ea[2] = ea[0] = internal::random<Scalar>(0,Scalar(EIGEN_PI)); |
| 187 | check_all_var(ea); |
| 188 | |
| 189 | ea[0] = ea[1] = internal::random<Scalar>(0,Scalar(EIGEN_PI)); |
| 190 | check_all_var(ea); |
| 191 | |
| 192 | ea[1] = 0; |
| 193 | check_all_var(ea); |
| 194 | |
| 195 | ea.head(2).setZero(); |
| 196 | check_all_var(ea); |
| 197 | |
| 198 | ea.setZero(); |
| 199 | check_all_var(ea); |
| 200 | } |
| 201 | |
| 202 | void test_EulerAngles() |
| 203 | { |
nothing calls this directly
no test coverage detected