Lines Matching refs:t0
30 Transform3 t0, t1, t2; in non_projective_only() local
38 t0 = Transform3::Identity(); in non_projective_only()
39 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in non_projective_only()
41 t0.linear() = q1.toRotationMatrix(); in non_projective_only()
44 t0.scale(v0); in non_projective_only()
46 VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x()); in non_projective_only()
48 t0.setIdentity(); in non_projective_only()
51 t0.linear() = q1.toRotationMatrix(); in non_projective_only()
52 t0.pretranslate(v0); in non_projective_only()
53 t0.scale(v1); in non_projective_only()
58 VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); in non_projective_only()
61 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); in non_projective_only()
62 VERIFY_IS_APPROX(t1*v1, t0*v1); in non_projective_only()
65 t0.setIdentity(); in non_projective_only()
66 t0.translate(v0); in non_projective_only()
67 VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); in non_projective_only()
70 t0.setIdentity(); in non_projective_only()
71 t0.scale(v0); in non_projective_only()
72 VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1); in non_projective_only()
163 Transform3 t0, t1, t2; in transformations() local
166 t0.setIdentity(); in transformations()
167 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in transformations()
168 t0.matrix().setZero(); in transformations()
169 t0 = Transform3::Identity(); in transformations()
170 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in transformations()
172 t0.setIdentity(); in transformations()
175 t0.linear() = q1.toRotationMatrix(); in transformations()
176 t0.pretranslate(v0); in transformations()
177 t0.scale(v1); in transformations()
182 VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); in transformations()
185 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); in transformations()
187 t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); in transformations()
189 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
191 t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); in transformations()
192 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
194 VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); in transformations()
195 VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); in transformations()
267 t0.setIdentity(); in transformations()
268 t0.rotate(q1).scale(v0).translate(v0); in transformations()
271 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
273 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
275 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
278 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
281 t0.setIdentity(); in transformations()
282 t0.scale(s0).translate(v0); in transformations()
284 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
285 t0.prescale(s0); in transformations()
287 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
289 t0 = t3; in transformations()
290 t0.scale(s0); in transformations()
292 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
293 t0.prescale(s0); in transformations()
295 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
297 t0 = t3; in transformations()
298 t0.scale(s0); in transformations()
300 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
301 t0.prescale(s0); in transformations()
303 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
305 t0.setIdentity(); in transformations()
306 t0.prerotate(q1).prescale(v0).pretranslate(v0); in transformations()
309 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
312 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
314 t0.setIdentity(); in transformations()
315 t0.scale(v0).translate(v0).rotate(q1); in transformations()
318 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
320 t0.scale(v0); in transformations()
322 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
324 t0.translate(v0); in transformations()
326 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
328 t0.pretranslate(v0); in transformations()
330 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
333 t0.rotate(q1); in transformations()
335 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
338 t0.translate(v1).rotate(q1); in transformations()
340 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
343 t0.scale(v1).rotate(q1); in transformations()
345 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
348 t0.prerotate(q1); in transformations()
350 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
353 t0.rotate(q1).translate(v1); in transformations()
355 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
358 t0.rotate(q1).scale(v1); in transformations()
360 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
363 t0.setIdentity(); in transformations()
364 t0.translate(v0); in transformations()
366 t0.linear().setRandom(); in transformations()
367 } while(t0.linear().jacobiSvd().singularValues()(2)<test_precision<Scalar>()); in transformations()
370 t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); in transformations()
371 VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); in transformations()
372 t0.setIdentity(); in transformations()
373 t0.translate(v0).rotate(q1); in transformations()
376 t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); in transformations()
377 VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); in transformations()
380 t0.setIdentity(); in transformations()
381 t0.translate(v0).rotate(q1).scale(v1); in transformations()
382 t0.computeRotationScaling(&mat_rotation, &mat_scaling); in transformations()
383 VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); in transformations()
386 t0.computeScalingRotation(&mat_scaling, &mat_rotation); in transformations()
387 VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); in transformations()