Add test case for issue 628
This commit is contained in:
parent
257d95b3d3
commit
ac203fe4fd
|
@ -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]
|
||||
|
|
Loading…
Reference in New Issue