1 files changed, 54 insertions, 0 deletions
diff --git a/test/geo_eulerangles.cpp b/test/geo_eulerangles.cpp
new file mode 100644
index 000000000..9bf149d2a
--- /dev/null
+++ b/test/geo_eulerangles.cpp
@@ -0,0 +1,54 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "main.h"
+#include <Eigen/Geometry>
+#include <Eigen/LU>
+#include <Eigen/SVD>
+
+template<typename Scalar> void eulerangles(void)
+{
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Quaternion<Scalar> Quaternionx;
+  typedef AngleAxis<Scalar> AngleAxisx;
+
+  Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
+  Quaternionx q1;
+  q1 = AngleAxisx(a, Vector3::Random().normalized());
+  Matrix3 m;
+  m = q1;
+
+  #define VERIFY_EULER(I,J,K, X,Y,Z) { \
+    Vector3 ea = m.eulerAngles(I,J,K); \
+    VERIFY_IS_APPROX(m,  Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
+  }
+  VERIFY_EULER(0,1,2, X,Y,Z);
+  VERIFY_EULER(0,1,0, X,Y,X);
+  VERIFY_EULER(0,2,1, X,Z,Y);
+  VERIFY_EULER(0,2,0, X,Z,X);
+
+  VERIFY_EULER(1,2,0, Y,Z,X);
+  VERIFY_EULER(1,2,1, Y,Z,Y);
+  VERIFY_EULER(1,0,2, Y,X,Z);
+  VERIFY_EULER(1,0,1, Y,X,Y);
+
+  VERIFY_EULER(2,0,1, Z,X,Y);
+  VERIFY_EULER(2,0,2, Z,X,Z);
+  VERIFY_EULER(2,1,0, Z,Y,X);
+  VERIFY_EULER(2,1,2, Z,Y,Z);
+}
+
+void test_geo_eulerangles()
+{
+  for(int i = 0; i < g_repeat; i++) {
+    CALL_SUBTEST_1( eulerangles<float>() );
+    CALL_SUBTEST_2( eulerangles<double>() );
+  }
+}