Add test case for issue 1078
@@ -28,6 +28,10 @@ fn from_rotation_matrix() {
1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0,
));
assert_relative_eq!(rotated_z, &Rotation3::from_axis_angle(&UnitVector3::new_unchecked(Vector3::new(1.0, 0.0, 0.0)), PI), epsilon = 0.001);
+ // Test that issue 1078 is fixed
+ let m = nalgebra::Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
+ assert_relative_ne!(identity, nalgebra::Rotation3::from_matrix(&m));
+ assert_relative_eq!(nalgebra::Rotation3::from_matrix_unchecked(m.clone()), nalgebra::Rotation3::from_matrix(&m));
}
#[test]
