Port Ceres to Windows
This is a preliminary, but full, port of Ceres to Windows.
Currently all tests compile and run, with only system_test
failing to work correctly due to a path issue.
Change-Id: I4152c1588bf51ffd7f4d9401ef9759f5d28c299c
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
index 55a4fbb..3dc8231 100644
--- a/internal/ceres/rotation_test.cc
+++ b/internal/ceres/rotation_test.cc
@@ -45,6 +45,9 @@
namespace ceres {
namespace internal {
+const double kPi = 3.14159265358979323846;
+const double kHalfSqrt2 = 0.707106781186547524401;
+
double RandDouble() {
double r = rand();
return r / RAND_MAX;
@@ -54,7 +57,7 @@
static double const kTolerance = numeric_limits<double>::epsilon() * 10;
// Looser tolerance used for for numerically unstable conversions.
-static double const kLooseTolerance = 1e-9;;
+static double const kLooseTolerance = 1e-9;
// Use as:
// double quaternion[4];
@@ -199,9 +202,9 @@
// Transforms a rotation by pi/2 around X to a quaternion.
TEST(Rotation, XRotationToQuaternion) {
- double axis_angle[3] = { M_PI / 2, 0, 0 };
+ double axis_angle[3] = { kPi / 2, 0, 0 };
double quaternion[4];
- double expected[4] = { M_SQRT1_2, M_SQRT1_2, 0, 0 };
+ double expected[4] = { kHalfSqrt2, kHalfSqrt2, 0, 0 };
AngleAxisToQuaternion(axis_angle, quaternion);
EXPECT_THAT(quaternion, IsNormalizedQuaternion());
EXPECT_THAT(quaternion, IsNearQuaternion(expected));
@@ -220,7 +223,7 @@
TEST(Rotation, YRotationQuaternionToAngleAxis) {
double quaternion[4] = { 0, 0, 1, 0 };
double axis_angle[3];
- double expected[3] = { 0, M_PI, 0 };
+ double expected[3] = { 0, kPi, 0 };
QuaternionToAngleAxis(quaternion, axis_angle);
EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
}
@@ -230,7 +233,7 @@
TEST(Rotation, ZRotationQuaternionToAngleAxis) {
double quaternion[4] = { sqrt(3) / 2, 0, 0, 0.5 };
double axis_angle[3];
- double expected[3] = { 0, 0, M_PI / 3 };
+ double expected[3] = { 0, 0, kPi / 3 };
QuaternionToAngleAxis(quaternion, axis_angle);
EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
}
@@ -275,7 +278,7 @@
norm = sqrt(norm);
// Angle in [-pi, pi).
- double theta = M_PI * 2 * RandDouble() - M_PI;
+ double theta = kPi * 2 * RandDouble() - kPi;
for (int i = 0; i < 3; i++) {
axis_angle[i] = axis_angle[i] * theta / norm;
}
@@ -340,7 +343,7 @@
// Transforms a rotation by pi/2 around X to a rotation matrix and back.
TEST(Rotation, XRotationToRotationMatrix) {
- double axis_angle[3] = { M_PI / 2, 0, 0 };
+ double axis_angle[3] = { kPi / 2, 0, 0 };
double matrix[9];
// The rotation matrices are stored column-major.
double expected[9] = { 1, 0, 0, 0, 0, 1, 0, -1, 0 };
@@ -355,7 +358,7 @@
// Transforms an axis angle that rotates by pi about the Y axis to a
// rotation matrix and back.
TEST(Rotation, YRotationToRotationMatrix) {
- double axis_angle[3] = { 0, M_PI, 0 };
+ double axis_angle[3] = { 0, kPi, 0 };
double matrix[9];
double expected[9] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };
AngleAxisToRotationMatrix(axis_angle, matrix);
@@ -385,7 +388,7 @@
// Angle in [pi - kMaxSmallAngle, pi).
const double kMaxSmallAngle = 1e-2;
- double theta = M_PI - kMaxSmallAngle * RandDouble();
+ double theta = kPi - kMaxSmallAngle * RandDouble();
for (int i = 0; i < 3; i++) {
in_axis_angle[i] *= (theta / norm);
@@ -400,7 +403,7 @@
}
TEST(Rotation, AtPiAngleAxisRoundTrip) {
- // A rotation of M_PI about the X axis;
+ // A rotation of kPi about the X axis;
static const double kMatrix[3][3] = {
{1.0, 0.0, 0.0},
{0.0, -1.0, 0.0},
@@ -415,7 +418,7 @@
}
}
- const double expected_axis_angle[3] = { M_PI, 0, 0 };
+ const double expected_axis_angle[3] = { kPi, 0, 0 };
double out_matrix[9];
double axis_angle[3];
@@ -424,7 +427,7 @@
LOG(INFO) << "AngleAxis = " << axis_angle[0] << " " << axis_angle[1]
<< " " << axis_angle[2];
- LOG(INFO) << "Expected AngleAxis = " << M_PI << " 0 0";
+ LOG(INFO) << "Expected AngleAxis = " << kPi << " 0 0";
double out_rowmajor[3][3];
for (int j = 0, k = 0; j < 3; ++j) {
for (int i = 0; i < 3; ++i, ++k) {
@@ -452,7 +455,7 @@
// Transforms an axis angle that rotates by pi/3 about the Z axis to a
// rotation matrix.
TEST(Rotation, ZRotationToRotationMatrix) {
- double axis_angle[3] = { 0, 0, M_PI / 3 };
+ double axis_angle[3] = { 0, 0, kPi / 3 };
double matrix[9];
// This is laid-out row-major on the screen but is actually stored
// column-major.
@@ -483,7 +486,7 @@
norm = sqrt(norm);
// Angle in [-pi, pi).
- double theta = M_PI * 2 * RandDouble() - M_PI;
+ double theta = kPi * 2 * RandDouble() - kPi;
for (int i = 0; i < 3; i++) {
axis_angle[i] = axis_angle[i] * theta / norm;
}
@@ -510,7 +513,7 @@
// Convert Euler angles from radians to degrees.
static void ToDegrees(double ea[3]) {
for (int i = 0; i < 3; ++i)
- ea[i] *= 180.0 / M_PI;
+ ea[i] *= 180.0 / kPi;
}
// Compare the 3x3 rotation matrices produced by the axis-angle
@@ -843,7 +846,7 @@
double rotation_matrix_rotated_p[3];
for (int i = 0; i < 10000; ++i) {
- double theta = (2.0 * i * 0.0011 - 1.0) * M_PI;
+ double theta = (2.0 * i * 0.0011 - 1.0) * kPi;
for (int j = 0; j < 50; ++j) {
double norm2 = 0.0;
for (int k = 0; k < 3; ++k) {
