cargo fmt
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@ -1,5 +1,7 @@
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use na::{
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Matrix3, Quaternion, RealField, Rotation3, UnitQuaternion, UnitVector3, Vector2, Vector3,
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};
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use std::f64::consts::PI;
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use na::{Matrix3, Quaternion, RealField, Rotation3, UnitQuaternion, UnitVector3, Vector2, Vector3};
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#[test]
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fn angle_2() {
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@ -20,23 +22,41 @@ fn angle_3() {
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#[test]
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fn from_rotation_matrix() {
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// Test degenerate case when from_matrix gets stuck in Identity rotation
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let identity = Rotation3::from_matrix(&Matrix3::new(
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1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
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));
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let identity =
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Rotation3::from_matrix(&Matrix3::new(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0));
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assert_relative_eq!(identity, &Rotation3::identity(), epsilon = 0.001);
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let rotated_z = Rotation3::from_matrix(&Matrix3::new(
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1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
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));
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assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
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let rotated_z =
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Rotation3::from_matrix(&Matrix3::new(1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0));
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assert_relative_eq!(
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rotated_z,
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&Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI),
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epsilon = 0.001
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);
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// Test that issue 628 is fixed
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let m_628 = nalgebra::Matrix3::<f64>::new(-1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0);
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assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.01);
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assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_628.clone()), nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.001);
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assert_relative_ne!(
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identity,
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nalgebra::Rotation3::from_matrix(&m_628),
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epsilon = 0.01
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);
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assert_relative_eq!(
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nalgebra::Rotation3::from_matrix_unchecked(m_628.clone()),
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nalgebra::Rotation3::from_matrix(&m_628),
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epsilon = 0.001
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);
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// Test that issue 1078 is fixed
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let m_1078 = nalgebra::Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
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assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.01);
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assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_1078.clone()), nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.001);
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assert_relative_ne!(
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identity,
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nalgebra::Rotation3::from_matrix(&m_1078),
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epsilon = 0.01
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);
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assert_relative_eq!(
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nalgebra::Rotation3::from_matrix_unchecked(m_1078.clone()),
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nalgebra::Rotation3::from_matrix(&m_1078),
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epsilon = 0.001
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);
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}
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#[test]
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