Lines Matching refs:t0
41 Transform3 t0, t1, t2; in non_projective_only() local
49 t0 = Transform3::Identity(); in non_projective_only()
50 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in non_projective_only()
52 t0.linear() = q1.toRotationMatrix(); in non_projective_only()
55 t0.scale(v0); in non_projective_only()
57 VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x()); in non_projective_only()
59 t0.setIdentity(); in non_projective_only()
62 t0.linear() = q1.toRotationMatrix(); in non_projective_only()
63 t0.pretranslate(v0); in non_projective_only()
64 t0.scale(v1); in non_projective_only()
69 VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); 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()
76 t0.setIdentity(); in non_projective_only()
77 t0.translate(v0); in non_projective_only()
78 VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1); in non_projective_only()
81 t0.setIdentity(); in non_projective_only()
82 t0.scale(v0); in non_projective_only()
83 VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1); in non_projective_only()
174 Transform3 t0, t1, t2; in transformations() local
177 t0.setIdentity(); in transformations()
178 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in transformations()
179 t0.matrix().setZero(); in transformations()
180 t0 = Transform3::Identity(); in transformations()
181 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in transformations()
183 t0.setIdentity(); in transformations()
186 t0.linear() = q1.toRotationMatrix(); in transformations()
187 t0.pretranslate(v0); in transformations()
188 t0.scale(v1); in transformations()
193 VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>())); in transformations()
196 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); in transformations()
198 t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); in transformations()
200 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
202 t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); 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()
281 t0.setIdentity(); in transformations()
282 t0.rotate(q1).scale(v0).translate(v0); 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()
295 t0.setIdentity(); in transformations()
296 t0.scale(s0).translate(v0); in transformations()
298 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
299 t0.prescale(s0); in transformations()
301 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
303 t0 = t3; in transformations()
304 t0.scale(s0); in transformations()
306 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
307 t0.prescale(s0); in transformations()
309 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
311 t0 = t3; in transformations()
312 t0.scale(s0); in transformations()
314 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
315 t0.prescale(s0); in transformations()
317 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
319 t0.setIdentity(); in transformations()
320 t0.prerotate(q1).prescale(v0).pretranslate(v0); in transformations()
323 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
326 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
328 t0.setIdentity(); in transformations()
329 t0.scale(v0).translate(v0).rotate(q1); in transformations()
332 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
334 t0.scale(v0); in transformations()
336 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
339 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
341 t0.translate(v0); in transformations()
343 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
345 t0.pretranslate(v0); in transformations()
347 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
350 t0.rotate(q1); in transformations()
352 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
355 t0.translate(v1).rotate(q1); in transformations()
357 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
360 t0.scale(v1).rotate(q1); in transformations()
362 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
365 t0.prerotate(q1); in transformations()
367 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
370 t0.rotate(q1).translate(v1); in transformations()
372 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
375 t0.rotate(q1).scale(v1); in transformations()
377 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in transformations()
380 t0.setIdentity(); in transformations()
381 t0.translate(v0); in transformations()
383 t0.linear().setRandom(); in transformations()
384 } while(t0.linear().jacobiSvd().singularValues()(2)<test_precision<Scalar>()); in transformations()
387 t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); in transformations()
388 VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); in transformations()
389 t0.setIdentity(); in transformations()
390 t0.translate(v0).rotate(q1); in transformations()
393 t044.block(0,0,t0.matrix().rows(),4) = t0.matrix(); in transformations()
394 VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4)); in transformations()
397 t0.setIdentity(); in transformations()
398 t0.translate(v0).rotate(q1).scale(v1); in transformations()
399 t0.computeRotationScaling(&mat_rotation, &mat_scaling); in transformations()
400 VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); in transformations()
403 t0.computeScalingRotation(&mat_scaling, &mat_rotation); in transformations()
404 VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); in transformations()