Make geo_hyperplane unit test more stable (bug #539)

1 files changed, 15 insertions, 5 deletions

diff --git a/test/geo_hyperplane.cpp b/test/geo_hyperplane.cpp
index f26fc1329..befd7d483 100644
--- a/test/geo_hyperplane.cpp
+++ b/test/geo_hyperplane.cpp
@@ -18,10 +18,12 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
   /* this test covers the following files:
      Hyperplane.h
   */
+  using std::abs;
   typedef typename HyperplaneType::Index Index;
   const Index dim = _plane.dim();
   enum { Options = HyperplaneType::Options };
   typedef typename HyperplaneType::Scalar Scalar;
+  typedef typename HyperplaneType::RealScalar RealScalar;
   typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, 1> VectorType;
   typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime,
                          HyperplaneType::AmbientDimAtCompileTime> MatrixType;
@@ -42,7 +44,10 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
   VERIFY_IS_APPROX( n1.dot(n1), Scalar(1) );
 
   VERIFY_IS_MUCH_SMALLER_THAN( pl0.absDistance(p0), Scalar(1) );
-  VERIFY_IS_APPROX( pl1.signedDistance(p1 + n1 * s0), s0 );
+  if(numext::abs2(s0)>RealScalar(1e-6))
+    VERIFY_IS_APPROX( pl1.signedDistance(p1 + n1 * s0), s0);
+  else
+    VERIFY_IS_MUCH_SMALLER_THAN( abs(pl1.signedDistance(p1 + n1 * s0) - s0), Scalar(1) );
   VERIFY_IS_MUCH_SMALLER_THAN( pl1.signedDistance(pl1.projection(p0)), Scalar(1) );
   VERIFY_IS_MUCH_SMALLER_THAN( pl1.absDistance(p1 +  pl1.normal().unitOrthogonal() * s1), Scalar(1) );
 
@@ -52,6 +57,8 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
     MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ();
     DiagonalMatrix<Scalar,HyperplaneType::AmbientDimAtCompileTime> scaling(VectorType::Random());
     Translation<Scalar,HyperplaneType::AmbientDimAtCompileTime> translation(VectorType::Random());
+    
+    while(scaling.diagonal().cwiseAbs().minCoeff()<RealScalar(1e-4)) scaling.diagonal() = VectorType::Random();
 
     pl2 = pl1;
     VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot).absDistance(rot * p1), Scalar(1) );
@@ -61,7 +68,7 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane)
     VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) );
     pl2 = pl1;
     VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation)
-                                 .absDistance((rot*scaling*translation) * p1), Scalar(1) );
+                                  .absDistance((rot*scaling*translation) * p1), Scalar(1) );
     pl2 = pl1;
     VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry)
                                  .absDistance((rot*translation) * p1), Scalar(1) );
@@ -104,12 +111,15 @@ template<typename Scalar> void lines()
     Vector result = line_u.intersection(line_v);
 
     // the lines should intersect at the point we called "center"
-    VERIFY_IS_APPROX(result, center);
+    if(abs(a-1) > 1e-2 && abs(v.normalized().dot(u.normalized()))<0.9)
+      VERIFY_IS_APPROX(result, center);
 
     // check conversions between two types of lines
     PLine pl(line_u); // gcc 3.3 will commit suicide if we don't name this variable
-    CoeffsType converted_coeffs = HLine(pl).coeffs();
-    converted_coeffs *= (line_u.coeffs()[0])/(converted_coeffs[0]);
+    HLine line_u2(pl);
+    CoeffsType converted_coeffs = line_u2.coeffs();
+    if(line_u2.normal().dot(line_u.normal())<0.)
+      converted_coeffs = -line_u2.coeffs();
     VERIFY(line_u.coeffs().isApprox(converted_coeffs));
   }
 }