cargo fmt
This commit is contained in:
parent
26e69863e1
commit
18a8a30671
|
@ -1,5 +1,7 @@
|
||||||
|
use na::{
|
||||||
|
Matrix3, Quaternion, RealField, Rotation3, UnitQuaternion, UnitVector3, Vector2, Vector3,
|
||||||
|
};
|
||||||
use std::f64::consts::PI;
|
use std::f64::consts::PI;
|
||||||
use na::{Matrix3, Quaternion, RealField, Rotation3, UnitQuaternion, UnitVector3, Vector2, Vector3};
|
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
fn angle_2() {
|
fn angle_2() {
|
||||||
|
@ -20,23 +22,41 @@ fn angle_3() {
|
||||||
#[test]
|
#[test]
|
||||||
fn from_rotation_matrix() {
|
fn from_rotation_matrix() {
|
||||||
// Test degenerate case when from_matrix gets stuck in Identity rotation
|
// Test degenerate case when from_matrix gets stuck in Identity rotation
|
||||||
let identity = Rotation3::from_matrix(&Matrix3::new(
|
let identity =
|
||||||
1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
|
Rotation3::from_matrix(&Matrix3::new(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0));
|
||||||
));
|
|
||||||
assert_relative_eq!(identity, &Rotation3::identity(), epsilon = 0.001);
|
assert_relative_eq!(identity, &Rotation3::identity(), epsilon = 0.001);
|
||||||
let rotated_z = Rotation3::from_matrix(&Matrix3::new(
|
let rotated_z =
|
||||||
1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
|
Rotation3::from_matrix(&Matrix3::new(1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0));
|
||||||
));
|
assert_relative_eq!(
|
||||||
assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
|
rotated_z,
|
||||||
|
&Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI),
|
||||||
|
epsilon = 0.001
|
||||||
|
);
|
||||||
// Test that issue 628 is fixed
|
// Test that issue 628 is fixed
|
||||||
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);
|
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);
|
||||||
assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.01);
|
assert_relative_ne!(
|
||||||
assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_628.clone()), nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.001);
|
identity,
|
||||||
|
nalgebra::Rotation3::from_matrix(&m_628),
|
||||||
|
epsilon = 0.01
|
||||||
|
);
|
||||||
|
assert_relative_eq!(
|
||||||
|
nalgebra::Rotation3::from_matrix_unchecked(m_628.clone()),
|
||||||
|
nalgebra::Rotation3::from_matrix(&m_628),
|
||||||
|
epsilon = 0.001
|
||||||
|
);
|
||||||
|
|
||||||
// Test that issue 1078 is fixed
|
// Test that issue 1078 is fixed
|
||||||
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);
|
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);
|
||||||
assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.01);
|
assert_relative_ne!(
|
||||||
assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_1078.clone()), nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.001);
|
identity,
|
||||||
|
nalgebra::Rotation3::from_matrix(&m_1078),
|
||||||
|
epsilon = 0.01
|
||||||
|
);
|
||||||
|
assert_relative_eq!(
|
||||||
|
nalgebra::Rotation3::from_matrix_unchecked(m_1078.clone()),
|
||||||
|
nalgebra::Rotation3::from_matrix(&m_1078),
|
||||||
|
epsilon = 0.001
|
||||||
|
);
|
||||||
}
|
}
|
||||||
|
|
||||||
#[test]
|
#[test]
|
||||||
|
|
Loading…
Reference in New Issue