diff options
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_orthomethods.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_orthomethods.cpp')
-rw-r--r-- | test/geo_orthomethods.cpp | 109 |
1 files changed, 109 insertions, 0 deletions
diff --git a/test/geo_orthomethods.cpp b/test/geo_orthomethods.cpp new file mode 100644 index 000000000..08110e6d8 --- /dev/null +++ b/test/geo_orthomethods.cpp @@ -0,0 +1,109 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. Eigen itself is part of the KDE project. +// +// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr> +// +// 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/SVD> + +/* this test covers the following files: + Geometry/OrthoMethods.h +*/ + +template<typename Scalar> void orthomethods_3() +{ + typedef Matrix<Scalar,3,3> Matrix3; + typedef Matrix<Scalar,3,1> Vector3; + + Vector3 v0 = Vector3::Random(), + v1 = Vector3::Random(), + v2 = Vector3::Random(); + + // cross product + VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1)); + Matrix3 mat3; + mat3 << v0.normalized(), + (v0.cross(v1)).normalized(), + (v0.cross(v1).cross(v0)).normalized(); + VERIFY(mat3.isUnitary()); + + + // colwise/rowwise cross product + mat3.setRandom(); + Vector3 vec3 = Vector3::Random(); + Matrix3 mcross; + int i = ei_random<int>(0,2); + mcross = mat3.colwise().cross(vec3); + VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3)); + mcross = mat3.rowwise().cross(vec3); + VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3)); + +} + +template<typename Scalar, int Size> void orthomethods(int size=Size) +{ + typedef Matrix<Scalar,Size,1> VectorType; + typedef Matrix<Scalar,3,Size> Matrix3N; + typedef Matrix<Scalar,Size,3> MatrixN3; + typedef Matrix<Scalar,3,1> Vector3; + + VectorType v0 = VectorType::Random(size), + v1 = VectorType::Random(size), + v2 = VectorType::Random(size); + + // unitOrthogonal + VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1)); + VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1)); + + // colwise/rowwise cross product + Vector3 vec3 = Vector3::Random(); + int i = ei_random<int>(0,size-1); + + Matrix3N mat3N(3,size), mcross3N(3,size); + mat3N.setRandom(); + mcross3N = mat3N.colwise().cross(vec3); + VERIFY_IS_APPROX(mcross3N.col(i), mat3N.col(i).cross(vec3)); + + MatrixN3 matN3(size,3), mcrossN3(size,3); + matN3.setRandom(); + mcrossN3 = matN3.rowwise().cross(vec3); + VERIFY_IS_APPROX(mcrossN3.row(i), matN3.row(i).cross(vec3)); + +} + +void test_geo_orthomethods() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST( orthomethods_3<float>() ); + CALL_SUBTEST( orthomethods_3<double>() ); + CALL_SUBTEST( (orthomethods<float,2>()) ); + CALL_SUBTEST( (orthomethods<double,2>()) ); + CALL_SUBTEST( (orthomethods<float,3>()) ); + CALL_SUBTEST( (orthomethods<double,3>()) ); + CALL_SUBTEST( (orthomethods<float,7>()) ); + CALL_SUBTEST( (orthomethods<double,8>()) ); + CALL_SUBTEST( (orthomethods<float,Dynamic>(36)) ); + CALL_SUBTEST( (orthomethods<double,Dynamic>(35)) ); + } +} |