template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType& q1)
{
typedef typename QuatType::Scalar Scalar;
typedef Matrix<Scalar,3,1> VectorType;
typedef AngleAxis<Scalar> AA;
Scalar largeEps = test_precision<Scalar>();
Scalar theta_tot = AA(q1*q0.inverse()).angle();
if(theta_tot>M_PI)
theta_tot = 2.*M_PI-theta_tot;
for(Scalar t=0; t<=1.001; t+=0.1)
{
QuatType q = q0.slerp(t,q1);
Scalar theta = AA(q*q0.inverse()).angle();
VERIFY(internal::abs(q.norm() - 1) < largeEps);
if(theta_tot==0) VERIFY(theta_tot==0);
else VERIFY(internal::abs(theta/theta_tot - t) < largeEps);
}
}
template<typename QuatType> void check_slerp(const QuatType& q0, const QuatType& q1)
{
using std::abs;
typedef typename QuatType::Scalar Scalar;
typedef AngleAxis<Scalar> AA;
Scalar largeEps = test_precision<Scalar>();
Scalar theta_tot = AA(q1*q0.inverse()).angle();
if(theta_tot>EIGEN_PI)
theta_tot = Scalar(2.*EIGEN_PI)-theta_tot;
for(Scalar t=0; t<=Scalar(1.001); t+=Scalar(0.1))
{
QuatType q = q0.slerp(t,q1);
Scalar theta = AA(q*q0.inverse()).angle();
VERIFY(abs(q.norm() - 1) < largeEps);
if(theta_tot==0) VERIFY(theta_tot==0);
else VERIFY(abs(theta - t * theta_tot) < largeEps);
}
}
