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Add test case for issue 628

This commit is contained in:
Tim Taubner 2022-03-31 18:07:04 +02:00 committed by Sébastien Crozet
parent 257d95b3d3
commit ac203fe4fd
1 changed files with 9 additions and 4 deletions
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13
tests/geometry/rotation.rs
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@ -19,7 +19,7 @@ fn angle_3() {
#[test]
fn from_rotation_matrix() {
// Test degenerate case when from_matrix_eps gets stuck in maximum
// Test degenerate case when from_matrix gets stuck in Identity rotation
let identity = Rotation3::from_matrix(&Matrix3::new(
1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
));
@ -28,10 +28,15 @@ fn from_rotation_matrix() {
1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
));
assert_relative_eq!(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
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_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_628.clone()), nalgebra::Rotation3::from_matrix(&m_628), epsilon = 0.001);
// Test that issue 1078 is fixed
let m = 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));
assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m.clone()), nalgebra::Rotation3::from_matrix(&m));
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_eq!(nalgebra::Rotation3::from_matrix_unchecked(m_1078.clone()), nalgebra::Rotation3::from_matrix(&m_1078), epsilon = 0.001);
}
#[test]