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 LineType> void parametrizedline(const LineType& _line) |
| 17 | { |
| 18 | /* this test covers the following files: |
| 19 | ParametrizedLine.h |
| 20 | */ |
Carlos Hernandez | 7faaa9f | 2014-08-05 17:53:32 -0700 | [diff] [blame] | 21 | using std::abs; |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 22 | typedef typename LineType::Index Index; |
| 23 | const Index dim = _line.dim(); |
| 24 | typedef typename LineType::Scalar Scalar; |
| 25 | typedef typename NumTraits<Scalar>::Real RealScalar; |
| 26 | typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType; |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 27 | typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType; |
| 28 | |
| 29 | VectorType p0 = VectorType::Random(dim); |
| 30 | VectorType p1 = VectorType::Random(dim); |
| 31 | |
| 32 | VectorType d0 = VectorType::Random(dim).normalized(); |
| 33 | |
| 34 | LineType l0(p0, d0); |
| 35 | |
| 36 | Scalar s0 = internal::random<Scalar>(); |
Carlos Hernandez | 7faaa9f | 2014-08-05 17:53:32 -0700 | [diff] [blame] | 37 | Scalar s1 = abs(internal::random<Scalar>()); |
Narayan Kamath | c981c48 | 2012-11-02 10:59:05 +0000 | [diff] [blame] | 38 | |
| 39 | VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) ); |
| 40 | VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) ); |
| 41 | VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) ); |
| 42 | VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) ); |
| 43 | VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 ); |
| 44 | |
| 45 | // casting |
| 46 | const int Dim = LineType::AmbientDimAtCompileTime; |
| 47 | typedef typename GetDifferentType<Scalar>::type OtherScalar; |
| 48 | ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>(); |
| 49 | VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0); |
| 50 | ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>(); |
| 51 | VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0); |
| 52 | |
| 53 | // intersections |
| 54 | VectorType p2 = VectorType::Random(dim); |
| 55 | VectorType n2 = VectorType::Random(dim).normalized(); |
| 56 | HyperplaneType hp(p2,n2); |
| 57 | Scalar t = l0.intersectionParameter(hp); |
| 58 | VectorType pi = l0.pointAt(t); |
| 59 | VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1)); |
| 60 | VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1)); |
| 61 | VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi); |
| 62 | } |
| 63 | |
| 64 | template<typename Scalar> void parametrizedline_alignment() |
| 65 | { |
| 66 | typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a; |
| 67 | typedef ParametrizedLine<Scalar,4,DontAlign> Line4u; |
| 68 | |
| 69 | EIGEN_ALIGN16 Scalar array1[8]; |
| 70 | EIGEN_ALIGN16 Scalar array2[8]; |
| 71 | EIGEN_ALIGN16 Scalar array3[8+1]; |
| 72 | Scalar* array3u = array3+1; |
| 73 | |
| 74 | Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a; |
| 75 | Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u; |
| 76 | Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u; |
| 77 | |
| 78 | p1->origin().setRandom(); |
| 79 | p1->direction().setRandom(); |
| 80 | *p2 = *p1; |
| 81 | *p3 = *p1; |
| 82 | |
| 83 | VERIFY_IS_APPROX(p1->origin(), p2->origin()); |
| 84 | VERIFY_IS_APPROX(p1->origin(), p3->origin()); |
| 85 | VERIFY_IS_APPROX(p1->direction(), p2->direction()); |
| 86 | VERIFY_IS_APPROX(p1->direction(), p3->direction()); |
| 87 | |
| 88 | #if defined(EIGEN_VECTORIZE) && EIGEN_ALIGN_STATICALLY |
| 89 | if(internal::packet_traits<Scalar>::Vectorizable) |
| 90 | VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Line4a)); |
| 91 | #endif |
| 92 | } |
| 93 | |
| 94 | void test_geo_parametrizedline() |
| 95 | { |
| 96 | for(int i = 0; i < g_repeat; i++) { |
| 97 | CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) ); |
| 98 | CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) ); |
| 99 | CALL_SUBTEST_2( parametrizedline_alignment<float>() ); |
| 100 | CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) ); |
| 101 | CALL_SUBTEST_3( parametrizedline_alignment<double>() ); |
| 102 | CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) ); |
| 103 | } |
| 104 | } |