The open source OpenXR runtime
a/math: Add disabled test to show problem with current quat_exp implementation
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
e7c33766
6bc551d0
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src/xrt/auxiliary/math/m_quatexpmap.cpp
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src/xrt/auxiliary/math/m_quatexpmap.cpp
···
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/// whose absence thus distinguishes this implementation. Without
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/// that factor of 1/2, the exp and ln functions successfully
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/// round-trip and match other implementations.
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///
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/// @todo That 1/2 term is important, fix it and enable disabled test on
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/// tests_quatexpmap.cpp
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Scalar theta = vec.norm();
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Scalar vecscale = sinc(theta);
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Eigen::Quaternion<Scalar> ret;
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tests/tests_quatexpmap.cpp
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tests/tests_quatexpmap.cpp
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CHECK(m_vec3_len(expected_aa - aa) <= 0.001);
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}
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}
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//! @todo Fix quat_exp
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#if 0
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SECTION("Test quat_exp(angle_axis) returns the appropriate quaternion")
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{
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float angle = M_PI_2;
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xrt_vec3 axis = axis4;
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xrt_vec3 aa = axis * angle;
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xrt_quat q{};
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math_quat_exp(&aa, &q);
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CHECK(q.x == Approx(axis.x * sin(angle / 2)));
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CHECK(q.y == Approx(axis.y * sin(angle / 2)));
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CHECK(q.z == Approx(axis.z * sin(angle / 2)));
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CHECK(q.w == Approx(cos(angle / 2)));
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}
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#endif
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}