Merge branch 'hotfix/0.6.1'

Author: Sylvain Bertrand

build.gradle

@@ -13,7 +13,7 @@ apply plugin: 'maven-publish'
 apply plugin: 'com.jfrog.bintray'
 
 sourceCompatibility = 1.8
-version = '0.6.0'
+version = '0.6.1'
 group = "us.ihmc"
 
 project.ext.fullVersion = version

src/us/ihmc/euclid/tools/RotationMatrixTools.java

@@ -272,10 +272,9 @@ private static void multiplyImpl(double a00, double a01, double a02, double a10,
             c10 = a01 * b00 + a11 * b01 + a21 * b02;
             c11 = a01 * b10 + a11 * b11 + a21 * b12;
             c12 = a01 * b20 + a11 * b21 + a21 * b22;
-            // The 3rd column is computed by the cross-product of the 2 other
-            // c20 = a02 * b00 + a12 * b01 + a22 * b02;
-            // c21 = a02 * b10 + a12 * b11 + a22 * b12;
-            // c22 = a02 * b20 + a12 * b21 + a22 * b22;
+            c20 = a02 * b00 + a12 * b01 + a22 * b02;
+            c21 = a02 * b10 + a12 * b11 + a22 * b12;
+            c22 = a02 * b20 + a12 * b21 + a22 * b22;
          }
          else
          {
@@ -285,10 +284,9 @@ private static void multiplyImpl(double a00, double a01, double a02, double a10,
             c10 = a01 * b00 + a11 * b10 + a21 * b20;
             c11 = a01 * b01 + a11 * b11 + a21 * b21;
             c12 = a01 * b02 + a11 * b12 + a21 * b22;
-            // The 3rd column is computed by the cross-product of the 2 other
-            // c20 = a02 * b00 + a12 * b10 + a22 * b20;
-            // c21 = a02 * b01 + a12 * b11 + a22 * b21;
-            // c22 = a02 * b02 + a12 * b12 + a22 * b22;
+            c20 = a02 * b00 + a12 * b10 + a22 * b20;
+            c21 = a02 * b01 + a12 * b11 + a22 * b21;
+            c22 = a02 * b02 + a12 * b12 + a22 * b22;
          }
       }
       else
@@ -301,10 +299,9 @@ private static void multiplyImpl(double a00, double a01, double a02, double a10,
             c10 = a10 * b00 + a11 * b01 + a12 * b02;
             c11 = a10 * b10 + a11 * b11 + a12 * b12;
             c12 = a10 * b20 + a11 * b21 + a12 * b22;
-            // The 3rd column is computed by the cross-product of the 2 other
-            // c20 = a20 * b00 + a21 * b01 + a22 * b02;
-            // c21 = a20 * b10 + a21 * b11 + a22 * b12;
-            // c22 = a20 * b20 + a21 * b21 + a22 * b22;
+            c20 = a20 * b00 + a21 * b01 + a22 * b02;
+            c21 = a20 * b10 + a21 * b11 + a22 * b12;
+            c22 = a20 * b20 + a21 * b21 + a22 * b22;
          }
          else
          {
@@ -314,20 +311,12 @@ private static void multiplyImpl(double a00, double a01, double a02, double a10,
             c10 = a10 * b00 + a11 * b10 + a12 * b20;
             c11 = a10 * b01 + a11 * b11 + a12 * b21;
             c12 = a10 * b02 + a11 * b12 + a12 * b22;
-            // The 3rd column is computed by the cross-product of the 2 other
-            // c20 = a20 * b00 + a21 * b10 + a22 * b20;
-            // c21 = a20 * b01 + a21 * b11 + a22 * b21;
-            // c22 = a20 * b02 + a21 * b12 + a22 * b22;
+            c20 = a20 * b00 + a21 * b10 + a22 * b20;
+            c21 = a20 * b01 + a21 * b11 + a22 * b21;
+            c22 = a20 * b02 + a21 * b12 + a22 * b22;
          }
       }
 
-      // The 3rd column is computed by the cross-product of the 2 other
-      // So it is 6M and 3A instead of 9M and 6A
-      // The accuracy is controlled in the test RotationMatrixTest.testNumericalErrors()
-      c20 = c01 * c12 - c02 * c11;
-      c21 = c02 * c10 - c00 * c12;
-      c22 = c00 * c11 - c01 * c10;
-
       matrixToPack.set(c00, c01, c02, c10, c11, c12, c20, c21, c22);
    }
 

test/us/ihmc/euclid/matrix/RotationMatrixTest.java

@@ -1096,7 +1096,7 @@ public void testNumericalError() throws Exception
          RotationMatrix unnormalized = new RotationMatrix();
          RotationMatrix normalized = new RotationMatrix();
 
-         for (int i = 0; i < 125000; i++)
+         for (int i = 0; i < 269000; i++)
          {
             RotationMatrixReadOnly multiplyWith = EuclidCoreRandomTools.nextRotationMatrix(random);
             unnormalized.multiply(multiplyWith);
@@ -1111,7 +1111,7 @@ public void testNumericalError() throws Exception
          RotationMatrix unnormalized = new RotationMatrix();
          RotationMatrix normalized = new RotationMatrix();
 
-         for (int i = 0; i < 80000; i++)
+         for (int i = 0; i < 116000; i++)
          {
             Quaternion multiplyWith = EuclidCoreRandomTools.nextQuaternion(random);
             unnormalized.append(multiplyWith);
@@ -1126,7 +1126,7 @@ public void testNumericalError() throws Exception
          RotationMatrix unnormalized = new RotationMatrix();
          RotationMatrix normalized = new RotationMatrix();
 
-         for (int i = 0; i < 125000; i++)
+         for (int i = 0; i < 268000; i++)
          {
             AxisAngle multiplyWith = EuclidCoreRandomTools.nextAxisAngle(random);
             unnormalized.append(multiplyWith);