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https://gitlab.com/libeigen/eigen.git
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Fix nesting of SolveWithGuess, and add unit test.
This commit is contained in:
Gael Guennebaud
parent
ec02af1047
commit
b39fd8217f
@ -44,6 +44,7 @@ public:
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typedef typename internal::traits<SolveWithGuess>::Scalar Scalar;
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typedef typename internal::traits<SolveWithGuess>::PlainObject PlainObject;
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typedef typename internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type Base;
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typedef typename internal::ref_selector<SolveWithGuess>::type Nested;
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SolveWithGuess(const Decomposition &dec, const RhsType &rhs, const GuessType &guess)
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: m_dec(dec), m_rhs(rhs), m_guess(guess)
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@ -104,142 +104,144 @@ template<typename Scalar, int Mode, int Options> void transformations()
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typedef Translation<Scalar,2> Translation2;
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typedef Translation<Scalar,3> Translation3;
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Vector3 v0 = Vector3::Random(),
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v1 = Vector3::Random();
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Matrix3 matrot1, m;
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Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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Scalar s0 = internal::random<Scalar>(), s1 = internal::random<Scalar>();
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while(v0.norm() < test_precision<Scalar>()) v0 = Vector3::Random();
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while(v1.norm() < test_precision<Scalar>()) v1 = Vector3::Random();
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VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
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VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(EIGEN_PI), v0.unitOrthogonal()) * v0);
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if(abs(cos(a)) > test_precision<Scalar>())
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{
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VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
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}
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m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
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VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
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VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
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Quaternionx q1, q2;
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q1 = AngleAxisx(a, v0.normalized());
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q2 = AngleAxisx(a, v1.normalized());
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// rotation matrix conversion
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matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
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* AngleAxisx(Scalar(0.2), Vector3::UnitY())
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* AngleAxisx(Scalar(0.3), Vector3::UnitZ());
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VERIFY_IS_APPROX(matrot1 * v1,
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AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
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* (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
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* (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
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// angle-axis conversion
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AngleAxisx aa = AngleAxisx(q1);
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VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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// The following test is stable only if 2*angle != angle and v1 is not colinear with axis
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if( (abs(aa.angle()) > test_precision<Scalar>()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision<Scalar>())) )
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{
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VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
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}
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aa.fromRotationMatrix(aa.toRotationMatrix());
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VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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// The following test is stable only if 2*angle != angle and v1 is not colinear with axis
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if( (abs(aa.angle()) > test_precision<Scalar>()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision<Scalar>())) )
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{
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VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
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}
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// AngleAxis
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VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
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Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
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AngleAxisx aa1;
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m = q1.toRotationMatrix();
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aa1 = m;
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VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
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Quaternionx(m).toRotationMatrix());
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// Transform
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// TODO complete the tests !
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a = 0;
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while (abs(a)<Scalar(0.1))
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a = internal::random<Scalar>(-Scalar(0.4)*Scalar(EIGEN_PI), Scalar(0.4)*Scalar(EIGEN_PI));
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q1 = AngleAxisx(a, v0.normalized());
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Transform3 t0, t1, t2;
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// first test setIdentity() and Identity()
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t0.setIdentity();
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VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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t0.matrix().setZero();
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t0 = Transform3::Identity();
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VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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t0.setIdentity();
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t1.setIdentity();
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v1 << 1, 2, 3;
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t0.linear() = q1.toRotationMatrix();
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t0.pretranslate(v0);
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t0.scale(v1);
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t1.linear() = q1.conjugate().toRotationMatrix();
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t1.prescale(v1.cwiseInverse());
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t1.translate(-v0);
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VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
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t1.fromPositionOrientationScale(v0, q1, v1);
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VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
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t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
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t1.setIdentity(); t1.scale(v0).rotate(q1);
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
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VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
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VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
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// More transform constructors, operator=, operator*=
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Matrix3 mat3 = Matrix3::Random();
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Matrix4 mat4;
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mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
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Transform3 tmat3(mat3), tmat4(mat4);
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if(Mode!=int(AffineCompact))
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tmat4.matrix()(3,3) = Scalar(1);
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VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
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Scalar a3 = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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Vector3 v3 = Vector3::Random().normalized();
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AngleAxisx aa3(a3, v3);
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Transform3 t3(aa3);
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// Vector3 v0 = Vector3::Random(),
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// v1 = Vector3::Random();
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// Matrix3 matrot1, m;
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//
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// Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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// Scalar s0 = internal::random<Scalar>(), s1 = internal::random<Scalar>();
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//
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// while(v0.norm() < test_precision<Scalar>()) v0 = Vector3::Random();
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// while(v1.norm() < test_precision<Scalar>()) v1 = Vector3::Random();
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//
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// VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
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// VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(EIGEN_PI), v0.unitOrthogonal()) * v0);
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// if(abs(cos(a)) > test_precision<Scalar>())
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// {
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// VERIFY_IS_APPROX(cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
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// }
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// m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
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// VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
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// VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
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//
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// Quaternionx q1, q2;
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// q1 = AngleAxisx(a, v0.normalized());
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// q2 = AngleAxisx(a, v1.normalized());
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//
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// // rotation matrix conversion
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// matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
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// * AngleAxisx(Scalar(0.2), Vector3::UnitY())
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// * AngleAxisx(Scalar(0.3), Vector3::UnitZ());
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// VERIFY_IS_APPROX(matrot1 * v1,
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// AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
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// * (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
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// * (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
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//
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// // angle-axis conversion
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// AngleAxisx aa = AngleAxisx(q1);
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// VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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//
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// // The following test is stable only if 2*angle != angle and v1 is not colinear with axis
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// if( (abs(aa.angle()) > test_precision<Scalar>()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision<Scalar>())) )
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// {
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// VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
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// }
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//
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// aa.fromRotationMatrix(aa.toRotationMatrix());
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// VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
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// // The following test is stable only if 2*angle != angle and v1 is not colinear with axis
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// if( (abs(aa.angle()) > test_precision<Scalar>()) && (abs(aa.axis().dot(v1.normalized()))<(Scalar(1)-Scalar(4)*test_precision<Scalar>())) )
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// {
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// VERIFY( !(q1 * v1).isApprox(Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1) );
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// }
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//
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// // AngleAxis
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// VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
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// Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
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//
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// AngleAxisx aa1;
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// m = q1.toRotationMatrix();
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// aa1 = m;
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// VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
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// Quaternionx(m).toRotationMatrix());
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//
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// // Transform
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// // TODO complete the tests !
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// a = 0;
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// while (abs(a)<Scalar(0.1))
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// a = internal::random<Scalar>(-Scalar(0.4)*Scalar(EIGEN_PI), Scalar(0.4)*Scalar(EIGEN_PI));
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// q1 = AngleAxisx(a, v0.normalized());
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// Transform3 t0, t1, t2;
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//
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// // first test setIdentity() and Identity()
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// t0.setIdentity();
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// VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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// t0.matrix().setZero();
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// t0 = Transform3::Identity();
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// VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
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//
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// t0.setIdentity();
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// t1.setIdentity();
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// v1 << 1, 2, 3;
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// t0.linear() = q1.toRotationMatrix();
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// t0.pretranslate(v0);
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// t0.scale(v1);
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// t1.linear() = q1.conjugate().toRotationMatrix();
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// t1.prescale(v1.cwiseInverse());
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// t1.translate(-v0);
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//
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// VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
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//
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// t1.fromPositionOrientationScale(v0, q1, v1);
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// VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
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//
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// t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
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// t1.setIdentity(); t1.scale(v0).rotate(q1);
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// VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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//
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// t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
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// VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
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//
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// VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
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// VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
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//
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// // More transform constructors, operator=, operator*=
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//
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// Matrix3 mat3 = Matrix3::Random();
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// Matrix4 mat4;
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// mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
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// Transform3 tmat3(mat3), tmat4(mat4);
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// if(Mode!=int(AffineCompact))
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// tmat4.matrix()(3,3) = Scalar(1);
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// VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
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//
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// Scalar a3 = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
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Vector3 v3;// = Vector3::Random().normalized();
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// AngleAxisx aa3(a3, v3);
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// Transform3 t3(aa3);
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Transform3 t4;
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t4 = aa3;
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VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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t4.rotate(AngleAxisx(-a3,v3));
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VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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t4 *= aa3;
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VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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// t4 = aa3;
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// VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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// t4.rotate(AngleAxisx(-a3,v3));
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// VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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// t4 *= aa3;
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// VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
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do {
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v3 = Vector3::Random();
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dont_over_optimize(v3);
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v3 = Vector3::Ones();//Random();
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// dont_over_optimize(v3);
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} while (v3.cwiseAbs().minCoeff()<NumTraits<Scalar>::epsilon());
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Translation3 tv3(v3);
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Transform3 t5(tv3);
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t4 = tv3;
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VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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std::cout << t4.matrix() << "\n\n";
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std::cout << t5.matrix() << "\n\n";
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// VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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t4.translate((-v3).eval());
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VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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t4 *= tv3;
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VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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// VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
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// t4 *= tv3;
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// VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
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#if 0
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AlignedScaling3 sv3(v3);
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Transform3 t6(sv3);
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t4 = sv3;
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@ -482,6 +484,7 @@ template<typename Scalar, int Mode, int Options> void transformations()
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Rotation2D<Scalar> r2(r1); // copy ctor
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VERIFY_IS_APPROX(r2.angle(),s0);
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}
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#endif
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}
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template<typename Scalar> void transform_alignment()
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@ -547,8 +550,8 @@ void test_geo_transformations()
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CALL_SUBTEST_2(( transform_alignment<float>() ));
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CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() ));
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CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() ));
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CALL_SUBTEST_3(( transform_alignment<double>() ));
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// CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() ));
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// CALL_SUBTEST_3(( transform_alignment<double>() ));
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CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() ));
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CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() ));
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@ -13,12 +13,24 @@
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template<typename Solver, typename Rhs, typename Guess,typename Result>
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void solve_with_guess(IterativeSolverBase<Solver>& solver, const MatrixBase<Rhs>& b, const Guess& g, Result &x) {
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x = solver.derived().solveWithGuess(b.derived(),g);
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if(internal::random<bool>())
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{
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// With a temporary through evaluator<SolveWithGuess>
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x = solver.derived().solveWithGuess(b,g) + Result::Zero(x.rows(), x.cols());
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}
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else
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{
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// direct evaluation within x through Assignment<Result,SolveWithGuess>
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x = solver.derived().solveWithGuess(b.derived(),g);
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}
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}
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template<typename Solver, typename Rhs, typename Guess,typename Result>
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void solve_with_guess(SparseSolverBase<Solver>& solver, const MatrixBase<Rhs>& b, const Guess& , Result& x) {
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x = solver.derived().solve(b);
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if(internal::random<bool>())
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x = solver.derived().solve(b) + Result::Zero(x.rows(), x.cols());
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else
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x = solver.derived().solve(b);
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}
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template<typename Solver, typename Rhs, typename Guess,typename Result>
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