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128 lines
4.2 KiB
C++
128 lines
4.2 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#include "main.h"
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#include <Eigen/Geometry>
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#include <Eigen/LU>
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#include <Eigen/SVD>
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/* this test covers the following files:
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Geometry/OrthoMethods.h
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*/
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template<typename Scalar> void orthomethods_3()
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{
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typedef Matrix<Scalar,3,3> Matrix3;
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typedef Matrix<Scalar,3,1> Vector3;
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typedef Matrix<Scalar,4,1> Vector4;
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Vector3 v0 = Vector3::Random(),
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v1 = Vector3::Random(),
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v2 = Vector3::Random();
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// cross product
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VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
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Matrix3 mat3;
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mat3 << v0.normalized(),
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(v0.cross(v1)).normalized(),
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(v0.cross(v1).cross(v0)).normalized();
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VERIFY(mat3.isUnitary());
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// colwise/rowwise cross product
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mat3.setRandom();
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Vector3 vec3 = Vector3::Random();
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Matrix3 mcross;
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int i = ei_random<int>(0,2);
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mcross = mat3.colwise().cross(vec3);
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VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
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mcross = mat3.rowwise().cross(vec3);
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VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
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// cross3
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Vector4 v40 = Vector4::Random(),
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v41 = Vector4::Random(),
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v42 = Vector4::Random();
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v40.w() = v41.w() = v42.w() = 0;
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v42.template start<3>() = v40.template start<3>().cross(v41.template start<3>());
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VERIFY_IS_APPROX(v40.cross3(v41), v42);
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}
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template<typename Scalar, int Size> void orthomethods(int size=Size)
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{
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typedef typename NumTraits<Scalar>::Real RealScalar;
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typedef Matrix<Scalar,Size,1> VectorType;
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typedef Matrix<Scalar,3,Size> Matrix3N;
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typedef Matrix<Scalar,Size,3> MatrixN3;
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typedef Matrix<Scalar,3,1> Vector3;
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VectorType v0 = VectorType::Random(size),
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v1 = VectorType::Random(size),
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v2 = VectorType::Random(size);
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// unitOrthogonal
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VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1));
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VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), RealScalar(1));
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if (size>3)
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{
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v0.template start<3>().setZero();
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v0.end(size-3).setRandom();
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VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1));
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VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), RealScalar(1));
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}
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// colwise/rowwise cross product
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Vector3 vec3 = Vector3::Random();
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int i = ei_random<int>(0,size-1);
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Matrix3N mat3N(3,size), mcross3N(3,size);
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mat3N.setRandom();
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mcross3N = mat3N.colwise().cross(vec3);
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VERIFY_IS_APPROX(mcross3N.col(i), mat3N.col(i).cross(vec3));
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MatrixN3 matN3(size,3), mcrossN3(size,3);
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matN3.setRandom();
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mcrossN3 = matN3.rowwise().cross(vec3);
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VERIFY_IS_APPROX(mcrossN3.row(i), matN3.row(i).cross(vec3));
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}
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void test_geo_orthomethods()
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{
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for(int i = 0; i < g_repeat; i++) {
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CALL_SUBTEST( orthomethods_3<float>() );
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CALL_SUBTEST( orthomethods_3<double>() );
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CALL_SUBTEST( (orthomethods<float,2>()) );
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CALL_SUBTEST( (orthomethods<double,2>()) );
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CALL_SUBTEST( (orthomethods<float,3>()) );
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CALL_SUBTEST( (orthomethods<double,3>()) );
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CALL_SUBTEST( (orthomethods<float,7>()) );
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CALL_SUBTEST( (orthomethods<std::complex<double>,8>()) );
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CALL_SUBTEST( (orthomethods<float,Dynamic>(36)) );
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CALL_SUBTEST( (orthomethods<double,Dynamic>(35)) );
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}
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}
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