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author | Gael Guennebaud <g.gael@free.fr> | 2009-02-17 09:53:05 +0000 |
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committer | Gael Guennebaud <g.gael@free.fr> | 2009-02-17 09:53:05 +0000 |
commit | e6f1104b57f19dff773b4f22d26d6aacabd1bdb2 (patch) | |
tree | 5de1c7a6d6eb47d894f119b5bda0107bd531000d /test/geo_hyperplane.cpp | |
parent | 67b4fab4e30a59d9a7e001ef25938d1767371569 (diff) |
* fix Quaternion::setFromTwoVectors (thanks to "benv" from the forum)
* extend PartialRedux::cross() to any matrix sizes with automatic
vectorization when possible
* unit tests: add "geo_" prefix to all unit tests related to the
geometry module and start splitting the big "geometry.cpp" tests to
multiple smaller ones (also include new tests)
Diffstat (limited to 'test/geo_hyperplane.cpp')
-rw-r--r-- | test/geo_hyperplane.cpp | 140 |
1 files changed, 140 insertions, 0 deletions
diff --git a/test/geo_hyperplane.cpp b/test/geo_hyperplane.cpp new file mode 100644 index 000000000..de1ee8ba0 --- /dev/null +++ b/test/geo_hyperplane.cpp @@ -0,0 +1,140 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. Eigen itself is part of the KDE project. +// +// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr> +// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com> +// +// Eigen is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 3 of the License, or (at your option) any later version. +// +// Alternatively, you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of +// the License, or (at your option) any later version. +// +// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY +// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public +// License and a copy of the GNU General Public License along with +// Eigen. If not, see <http://www.gnu.org/licenses/>. + +#include "main.h" +#include <Eigen/Geometry> +#include <Eigen/LU> +#include <Eigen/QR> + +template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane) +{ + /* this test covers the following files: + Hyperplane.h + */ + + const int dim = _plane.dim(); + typedef typename HyperplaneType::Scalar Scalar; + typedef typename NumTraits<Scalar>::Real RealScalar; + typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, 1> VectorType; + typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, + HyperplaneType::AmbientDimAtCompileTime> MatrixType; + + VectorType p0 = VectorType::Random(dim); + VectorType p1 = VectorType::Random(dim); + + VectorType n0 = VectorType::Random(dim).normalized(); + VectorType n1 = VectorType::Random(dim).normalized(); + + HyperplaneType pl0(n0, p0); + HyperplaneType pl1(n1, p1); + HyperplaneType pl2 = pl1; + + Scalar s0 = ei_random<Scalar>(); + Scalar s1 = ei_random<Scalar>(); + + 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 ); + 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) ); + + // transform + if (!NumTraits<Scalar>::IsComplex) + { + MatrixType rot = MatrixType::Random(dim,dim).qr().matrixQ(); + DiagonalMatrix<Scalar,HyperplaneType::AmbientDimAtCompileTime> scaling(VectorType::Random()); + Translation<Scalar,HyperplaneType::AmbientDimAtCompileTime> translation(VectorType::Random()); + + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot).absDistance(rot * p1), Scalar(1) ); + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) ); + pl2 = pl1; + 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) ); + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry) + .absDistance((rot*translation) * p1), Scalar(1) ); + } + + // casting + const int Dim = HyperplaneType::AmbientDimAtCompileTime; + typedef typename GetDifferentType<Scalar>::type OtherScalar; + Hyperplane<OtherScalar,Dim> hp1f = pl1.template cast<OtherScalar>(); + VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),pl1); + Hyperplane<Scalar,Dim> hp1d = pl1.template cast<Scalar>(); + VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),pl1); +} + +template<typename Scalar> void lines() +{ + typedef Hyperplane<Scalar, 2> HLine; + typedef ParametrizedLine<Scalar, 2> PLine; + typedef Matrix<Scalar,2,1> Vector; + typedef Matrix<Scalar,3,1> CoeffsType; + + for(int i = 0; i < 10; i++) + { + Vector center = Vector::Random(); + Vector u = Vector::Random(); + Vector v = Vector::Random(); + Scalar a = ei_random<Scalar>(); + while (ei_abs(a-1) < 1e-4) a = ei_random<Scalar>(); + while (u.norm() < 1e-4) u = Vector::Random(); + while (v.norm() < 1e-4) v = Vector::Random(); + + HLine line_u = HLine::Through(center + u, center + a*u); + HLine line_v = HLine::Through(center + v, center + a*v); + + // the line equations should be normalized so that a^2+b^2=1 + VERIFY_IS_APPROX(line_u.normal().norm(), Scalar(1)); + VERIFY_IS_APPROX(line_v.normal().norm(), Scalar(1)); + + Vector result = line_u.intersection(line_v); + + // the lines should intersect at the point we called "center" + VERIFY_IS_APPROX(result, center); + + // check conversions between two types of lines + CoeffsType converted_coeffs(HLine(PLine(line_u)).coeffs()); + converted_coeffs *= line_u.coeffs()(0)/converted_coeffs(0); + VERIFY(line_u.coeffs().isApprox(converted_coeffs)); + } +} + +void test_geo_hyperplane() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST( hyperplane(Hyperplane<float,2>()) ); + CALL_SUBTEST( hyperplane(Hyperplane<float,3>()) ); + CALL_SUBTEST( hyperplane(Hyperplane<double,4>()) ); + CALL_SUBTEST( hyperplane(Hyperplane<std::complex<double>,5>()) ); + CALL_SUBTEST( lines<float>() ); + CALL_SUBTEST( lines<double>() ); + } +} |