diff options
| author |  Antonio Sanchez <cantonios@google.com> | 2020-09-30 08:21:20 -0700 |
|---|---|---|
| committer | Antonio Sanchez <cantonios@google.com> | 2020-09-30 08:42:03 -0700 |
| commit | d5a0d894915c19199590b32149834351b60e2fd1 (patch) | |
| tree | 514a506ba166870a94664d1d60f107bc5051c74c /Eigen/src/Geometry | |
| parent | 30960d485ec7e45b095d3ad206b2dbcc8bc835ba (diff) | |
Fix alignedbox 32-bit precision test failure.
The current `test/geo_alignedbox` tests fail on 32-bit arm due to small floating-point errors.
In particular, the following is not guaranteed to hold:
```
IsometryTransform identity = IsometryTransform::Identity();
BoxType transformedC;
transformedC.extend(c.transformed(identity));
VERIFY(transformedC.contains(c));
```
since `c.transformed(identity)` is ever-so-slightly different from `c`. Instead, we replace this test with one that checks an identity transform is within floating-point precision of `c`.
Also updated the condition on `AlignedBox::transform(...)` to only accept `Affine`, `AffineCompact`, and `Isometry` modes explicitly. Otherwise, invalid combinations of modes would also incorrectly pass the assertion.
Diffstat (limited to 'Eigen/src/Geometry')
| -rw-r--r-- | Eigen/src/Geometry/AlignedBox.h | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/Eigen/src/Geometry/AlignedBox.h b/Eigen/src/Geometry/AlignedBox.h index f8fb423cb..02f21e3bc 100644 --- a/Eigen/src/Geometry/AlignedBox.h +++ b/Eigen/src/Geometry/AlignedBox.h @@ -46,7 +46,7 @@ #ifndef EIGEN_ALIGNEDBOX_H #define EIGEN_ALIGNEDBOX_H -namespace Eigen { +namespace Eigen { /** \geometry_module \ingroup Geometry_Module * @@ -267,7 +267,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); } /** Returns an AlignedBox that is the union of \a b and \c *this. - * \note Merging with an empty box may result in a box bigger than \c *this. + * \note Merging with an empty box may result in a box bigger than \c *this. * \sa extend(const AlignedBox&) */ EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); } @@ -338,8 +338,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim) template<int Mode, int Options> EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) { - // Projective transform is not (yet) supported - EIGEN_STATIC_ASSERT(Mode != Projective, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS); + // Only Affine and Isometry transforms are currently supported. + EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS); // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292 |