Lines Matching refs:VERIFY_IS_APPROX
50 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in non_projective_only()
57 VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x()); in non_projective_only()
72 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); in non_projective_only()
73 VERIFY_IS_APPROX(t1*v1, t0*v1); in non_projective_only()
78 VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); in non_projective_only()
83 VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1); in non_projective_only()
117 VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0); in transformations()
118 VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(EIGEN_PI), v0.unitOrthogonal()) * v0); in transformations()
121 VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0)); in transformations()
124 VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized())); in transformations()
125 VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m); in transformations()
135 VERIFY_IS_APPROX(matrot1 * v1, in transformations()
142 VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); in transformations()
151 VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1); in transformations()
159 VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(), in transformations()
165 VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(), in transformations()
178 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in transformations()
181 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in transformations()
196 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); in transformations()
200 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
203 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
205 VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); in transformations()
206 VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); in transformations()
216 VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix()); in transformations()
224 VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); in transformations()
226 VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); in transformations()
228 VERIFY_IS_APPROX(t3.matrix(), t4.matrix()); in transformations()
237 VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); in transformations()
239 VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); in transformations()
241 VERIFY_IS_APPROX(t5.matrix(), t4.matrix()); in transformations()
246 VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); in transformations()
248 VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity()); in transformations()
250 VERIFY_IS_APPROX(t6.matrix(), t4.matrix()); in transformations()
253 VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix()); in transformations()
256 VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix()); in transformations()
261 VERIFY_IS_APPROX(t5, t4*t4); in transformations()
271 VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(), in transformations()
285 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
287 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
289 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
292 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
298 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
301 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
306 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
309 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
314 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
317 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
323 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
326 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
332 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
336 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
339 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
343 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
347 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
352 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
357 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
362 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
367 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
372 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
377 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
388 VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); in transformations()
394 VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); in transformations()
400 VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); in transformations()
401 VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); in transformations()
402 VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); in transformations()
404 VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); in transformations()
405 VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity()); in transformations()
406 VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1)); in transformations()
410 VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1); in transformations()
412 VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1); in transformations()
416 VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1); in transformations()
418 VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1); in transformations()
421 VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1); in transformations()
423 VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1); in transformations()
427 VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1); in transformations()
429 VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1); in transformations()
437 VERIFY_IS_APPROX( angleToVec(rot2.smallestPositiveAngle()), angleToVec(rot2.angle()) ); in transformations()
441 VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot2.angle()) ); in transformations()
445 VERIFY_IS_APPROX( angleToVec(rot2.smallestAngle()), angleToVec(rot3.angle()) ); in transformations()
454 VERIFY_IS_APPROX(t20,t21); in transformations()
458 VERIFY_IS_APPROX(t20,t21); in transformations()
460 VERIFY_IS_APPROX(s0, (R0.slerp(0, R1)).angle()); in transformations()
461 …VERIFY_IS_APPROX( angleToVec(R1.smallestPositiveAngle()), angleToVec((R0.slerp(1, R1)).smallestPos… in transformations()
462 VERIFY_IS_APPROX(R0.smallestPositiveAngle(), (R0.slerp(0.5, R0)).smallestPositiveAngle()); in transformations()
467 VERIFY_IS_APPROX(Scalar(EIGEN_PI), (R0.slerp(0.5, R0.inverse())).smallestPositiveAngle()); in transformations()
484 VERIFY_IS_APPROX(r1.angle(),s0); in transformations()
486 VERIFY_IS_APPROX(r2.angle(),s0); in transformations()
494 VERIFY_IS_APPROX(t32.matrix(), t33.matrix()); in transformations()
496 VERIFY_IS_APPROX(t32.matrix(), t33.matrix()); in transformations()
504 VERIFY_IS_APPROX( q*(a1*v), (q*a1)*v ); in transform_associativity_left()
505 VERIFY_IS_APPROX( q*(a2*v), (q*a2)*v ); in transform_associativity_left()
506 VERIFY_IS_APPROX( q*(p*h).hnormalized(), ((q*p)*h).hnormalized() ); in transform_associativity_left()
512 VERIFY_IS_APPROX( a1*(q*v), (a1*q)*v ); in transform_associativity2()
513 VERIFY_IS_APPROX( a2*(q*v), (a2*q)*v ); in transform_associativity2()
514 VERIFY_IS_APPROX( p *(q*v).homogeneous(), (p *q)*v.homogeneous() ); in transform_associativity2()
554 VERIFY_IS_APPROX( A1*(M*h1), (A1*M)*h1 ); in transform_associativity()
555 VERIFY_IS_APPROX( A1c*(M*h1), (A1c*M)*h1 ); in transform_associativity()
556 VERIFY_IS_APPROX( P1*(M*h1), (P1*M)*h1 ); in transform_associativity()
558 VERIFY_IS_APPROX( M*(A1*h1), (M*A1)*h1 ); in transform_associativity()
559 VERIFY_IS_APPROX( M*(A1c*h1), (M*A1c)*h1 ); in transform_associativity()
560 VERIFY_IS_APPROX( M*(P1*h1), ((M*P1)*h1) ); in transform_associativity()
581 VERIFY_IS_APPROX(p1->matrix(), p2->matrix()); in transform_alignment()
582 VERIFY_IS_APPROX(p1->matrix(), p3->matrix()); in transform_alignment()
584 VERIFY_IS_APPROX( (*p1) * (*p1), (*p2)*(*p3)); in transform_alignment()
605 VERIFY_IS_APPROX((p*p).matrix(), p_m*p_m); in transform_products()
606 VERIFY_IS_APPROX((a*a).matrix(), a_m*a_m); in transform_products()
607 VERIFY_IS_APPROX((p*a).matrix(), p_m*a_m); in transform_products()
608 VERIFY_IS_APPROX((a*p).matrix(), a_m*p_m); in transform_products()
609 VERIFY_IS_APPROX((ac*a).matrix(), a_m*a_m); in transform_products()
610 VERIFY_IS_APPROX((a*ac).matrix(), a_m*a_m); in transform_products()
611 VERIFY_IS_APPROX((p*ac).matrix(), p_m*a_m); in transform_products()
612 VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m); in transform_products()