Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 1 | // This file is part of Eigen, a lightweight C++ template library |
| 2 | // for linear algebra. |
| 3 | // |
| 4 | // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr> |
| 5 | // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com> |
| 6 | // |
| 7 | // This Source Code Form is subject to the terms of the Mozilla |
| 8 | // Public License v. 2.0. If a copy of the MPL was not distributed |
| 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. |
| 10 | |
| 11 | #include "main.h" |
| 12 | #include <Eigen/Geometry> |
| 13 | #include <Eigen/LU> |
| 14 | #include <Eigen/QR> |
| 15 | |
| 16 | template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane) |
| 17 | { |
| 18 | /* this test covers the following files: |
| 19 | Hyperplane.h |
| 20 | */ |
| 21 | typedef typename HyperplaneType::Index Index; |
| 22 | const Index dim = _plane.dim(); |
| 23 | enum { Options = HyperplaneType::Options }; |
| 24 | typedef typename HyperplaneType::Scalar Scalar; |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 25 | typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, 1> VectorType; |
| 26 | typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, |
| 27 | HyperplaneType::AmbientDimAtCompileTime> MatrixType; |
| 28 | |
| 29 | VectorType p0 = VectorType::Random(dim); |
| 30 | VectorType p1 = VectorType::Random(dim); |
| 31 | |
| 32 | VectorType n0 = VectorType::Random(dim).normalized(); |
| 33 | VectorType n1 = VectorType::Random(dim).normalized(); |
| 34 | |
| 35 | HyperplaneType pl0(n0, p0); |
| 36 | HyperplaneType pl1(n1, p1); |
| 37 | HyperplaneType pl2 = pl1; |
| 38 | |
| 39 | Scalar s0 = internal::random<Scalar>(); |
| 40 | Scalar s1 = internal::random<Scalar>(); |
| 41 | |
| 42 | VERIFY_IS_APPROX( n1.dot(n1), Scalar(1) ); |
| 43 | |
| 44 | VERIFY_IS_MUCH_SMALLER_THAN( pl0.absDistance(p0), Scalar(1) ); |
| 45 | VERIFY_IS_APPROX( pl1.signedDistance(p1 + n1 * s0), s0 ); |
| 46 | VERIFY_IS_MUCH_SMALLER_THAN( pl1.signedDistance(pl1.projection(p0)), Scalar(1) ); |
| 47 | VERIFY_IS_MUCH_SMALLER_THAN( pl1.absDistance(p1 + pl1.normal().unitOrthogonal() * s1), Scalar(1) ); |
| 48 | |
| 49 | // transform |
| 50 | if (!NumTraits<Scalar>::IsComplex) |
| 51 | { |
| 52 | MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ(); |
| 53 | DiagonalMatrix<Scalar,HyperplaneType::AmbientDimAtCompileTime> scaling(VectorType::Random()); |
| 54 | Translation<Scalar,HyperplaneType::AmbientDimAtCompileTime> translation(VectorType::Random()); |
| 55 | |
| 56 | pl2 = pl1; |
| 57 | VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot).absDistance(rot * p1), Scalar(1) ); |
| 58 | pl2 = pl1; |
| 59 | VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) ); |
| 60 | pl2 = pl1; |
| 61 | VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) ); |
| 62 | pl2 = pl1; |
| 63 | VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation) |
| 64 | .absDistance((rot*scaling*translation) * p1), Scalar(1) ); |
| 65 | pl2 = pl1; |
| 66 | VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry) |
| 67 | .absDistance((rot*translation) * p1), Scalar(1) ); |
| 68 | } |
| 69 | |
| 70 | // casting |
| 71 | const int Dim = HyperplaneType::AmbientDimAtCompileTime; |
| 72 | typedef typename GetDifferentType<Scalar>::type OtherScalar; |
| 73 | Hyperplane<OtherScalar,Dim,Options> hp1f = pl1.template cast<OtherScalar>(); |
| 74 | VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),pl1); |
| 75 | Hyperplane<Scalar,Dim,Options> hp1d = pl1.template cast<Scalar>(); |
| 76 | VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),pl1); |
| 77 | } |
| 78 | |
| 79 | template<typename Scalar> void lines() |
| 80 | { |
Carlos Hernandez | 7faaa9f | 2014-08-05 17:53:32 -0700 | [diff] [blame] | 81 | using std::abs; |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 82 | typedef Hyperplane<Scalar, 2> HLine; |
| 83 | typedef ParametrizedLine<Scalar, 2> PLine; |
| 84 | typedef Matrix<Scalar,2,1> Vector; |
| 85 | typedef Matrix<Scalar,3,1> CoeffsType; |
| 86 | |
| 87 | for(int i = 0; i < 10; i++) |
| 88 | { |
| 89 | Vector center = Vector::Random(); |
| 90 | Vector u = Vector::Random(); |
| 91 | Vector v = Vector::Random(); |
| 92 | Scalar a = internal::random<Scalar>(); |
Carlos Hernandez | 7faaa9f | 2014-08-05 17:53:32 -0700 | [diff] [blame] | 93 | while (abs(a-1) < 1e-4) a = internal::random<Scalar>(); |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 94 | while (u.norm() < 1e-4) u = Vector::Random(); |
| 95 | while (v.norm() < 1e-4) v = Vector::Random(); |
| 96 | |
| 97 | HLine line_u = HLine::Through(center + u, center + a*u); |
| 98 | HLine line_v = HLine::Through(center + v, center + a*v); |
| 99 | |
| 100 | // the line equations should be normalized so that a^2+b^2=1 |
| 101 | VERIFY_IS_APPROX(line_u.normal().norm(), Scalar(1)); |
| 102 | VERIFY_IS_APPROX(line_v.normal().norm(), Scalar(1)); |
| 103 | |
| 104 | Vector result = line_u.intersection(line_v); |
| 105 | |
| 106 | // the lines should intersect at the point we called "center" |
| 107 | VERIFY_IS_APPROX(result, center); |
| 108 | |
| 109 | // check conversions between two types of lines |
| 110 | PLine pl(line_u); // gcc 3.3 will commit suicide if we don't name this variable |
| 111 | CoeffsType converted_coeffs = HLine(pl).coeffs(); |
| 112 | converted_coeffs *= (line_u.coeffs()[0])/(converted_coeffs[0]); |
| 113 | VERIFY(line_u.coeffs().isApprox(converted_coeffs)); |
| 114 | } |
| 115 | } |
| 116 | |
| 117 | template<typename Scalar> void hyperplane_alignment() |
| 118 | { |
| 119 | typedef Hyperplane<Scalar,3,AutoAlign> Plane3a; |
| 120 | typedef Hyperplane<Scalar,3,DontAlign> Plane3u; |
| 121 | |
| 122 | EIGEN_ALIGN16 Scalar array1[4]; |
| 123 | EIGEN_ALIGN16 Scalar array2[4]; |
| 124 | EIGEN_ALIGN16 Scalar array3[4+1]; |
| 125 | Scalar* array3u = array3+1; |
| 126 | |
| 127 | Plane3a *p1 = ::new(reinterpret_cast<void*>(array1)) Plane3a; |
| 128 | Plane3u *p2 = ::new(reinterpret_cast<void*>(array2)) Plane3u; |
| 129 | Plane3u *p3 = ::new(reinterpret_cast<void*>(array3u)) Plane3u; |
| 130 | |
| 131 | p1->coeffs().setRandom(); |
| 132 | *p2 = *p1; |
| 133 | *p3 = *p1; |
| 134 | |
| 135 | VERIFY_IS_APPROX(p1->coeffs(), p2->coeffs()); |
| 136 | VERIFY_IS_APPROX(p1->coeffs(), p3->coeffs()); |
| 137 | |
| 138 | #if defined(EIGEN_VECTORIZE) && EIGEN_ALIGN_STATICALLY |
| 139 | if(internal::packet_traits<Scalar>::Vectorizable) |
| 140 | VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Plane3a)); |
| 141 | #endif |
| 142 | } |
| 143 | |
| 144 | |
| 145 | void test_geo_hyperplane() |
| 146 | { |
| 147 | for(int i = 0; i < g_repeat; i++) { |
| 148 | CALL_SUBTEST_1( hyperplane(Hyperplane<float,2>()) ); |
| 149 | CALL_SUBTEST_2( hyperplane(Hyperplane<float,3>()) ); |
| 150 | CALL_SUBTEST_2( hyperplane(Hyperplane<float,3,DontAlign>()) ); |
| 151 | CALL_SUBTEST_2( hyperplane_alignment<float>() ); |
| 152 | CALL_SUBTEST_3( hyperplane(Hyperplane<double,4>()) ); |
| 153 | CALL_SUBTEST_4( hyperplane(Hyperplane<std::complex<double>,5>()) ); |
| 154 | CALL_SUBTEST_1( lines<float>() ); |
| 155 | CALL_SUBTEST_3( lines<double>() ); |
| 156 | } |
| 157 | } |