diff options
| -rw-r--r-- | Eigen/Geometry | 4 | ||||
| -rw-r--r-- | Eigen/src/Geometry/Hyperplane.h | 66 | ||||
| -rw-r--r-- | Eigen/src/Geometry/ParametrizedLine.h | 118 | ||||
| -rw-r--r-- | test/CMakeLists.txt | 1 | ||||
| -rw-r--r-- | test/geometry.cpp | 2 | ||||
| -rw-r--r-- | test/hyperplane.cpp | 5 | ||||
| -rw-r--r-- | test/main.h | 19 | ||||
| -rw-r--r-- | test/parametrizedline.cpp | 69 |
8 files changed, 206 insertions, 78 deletions
diff --git a/Eigen/Geometry b/Eigen/Geometry index 95e6077cf..1ac279b99 100644 --- a/Eigen/Geometry +++ b/Eigen/Geometry @@ -12,10 +12,11 @@ namespace Eigen { /** \defgroup GeometryModule Geometry module * This module provides support for: * - fixed-size homogeneous transformations - * - 2D and 3D rotations + * - translation, scaling, 2D and 3D rotations * - quaternions * - \ref MatrixBase::cross() "cross product" * - \ref MatrixBase::unitOrthogonal() "orthognal vector generation" + * - some linear components: parametrized-lines and hyperplanes * * \code * #include <Eigen/Geometry> @@ -36,6 +37,7 @@ namespace Eigen { #include "src/Geometry/Translation.h" #include "src/Geometry/Scaling.h" #include "src/Geometry/Hyperplane.h" +#include "src/Geometry/ParametrizedLine.h" } // namespace Eigen diff --git a/Eigen/src/Geometry/Hyperplane.h b/Eigen/src/Geometry/Hyperplane.h index faf2cf3ed..e099d10ce 100644 --- a/Eigen/src/Geometry/Hyperplane.h +++ b/Eigen/src/Geometry/Hyperplane.h @@ -28,48 +28,6 @@ /** \geometry_module \ingroup GeometryModule * - * \class ParametrizedLine - * - * \brief A parametrized line - * - * \param _Scalar the scalar type, i.e., the type of the coefficients - * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. - * Notice that the dimension of the hyperplane is _AmbientDim-1. - */ -template <typename _Scalar, int _AmbientDim> -class ParametrizedLine - #ifdef EIGEN_VECTORIZE - : public ei_with_aligned_operator_new<_Scalar,_AmbientDim> - #endif -{ - public: - - enum { AmbientDimAtCompileTime = _AmbientDim }; - typedef _Scalar Scalar; - typedef typename NumTraits<Scalar>::Real RealScalar; - typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; - - ParametrizedLine(const VectorType& origin, const VectorType& direction) - : m_origin(origin), m_direction(direction) {} - explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane); - - ~ParametrizedLine() {} - - const VectorType& origin() const { return m_origin; } - VectorType& origin() { return m_origin; } - - const VectorType& direction() const { return m_direction; } - VectorType& direction() { return m_direction; } - - Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane); - - protected: - - VectorType m_origin, m_direction; -}; - -/** \geometry_module \ingroup GeometryModule - * * \class Hyperplane * * \brief A hyperplane @@ -103,7 +61,7 @@ class Hyperplane typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType; /** Default constructor without initialization */ - inline Hyperplane(int _dim = AmbientDimAtCompileTime) : m_coeffs(_dim+1) {} + inline explicit Hyperplane(int _dim = AmbientDimAtCompileTime) : m_coeffs(_dim+1) {} /** Construct a plane from its normal \a n and a point \a e onto the plane. * \warning the vector normal is assumed to be normalized. @@ -175,7 +133,6 @@ class Hyperplane /** \returns the projection of a point \a p onto the plane \c *this. */ - inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); } /** \returns a constant reference to the unit normal vector of the plane, which corresponds @@ -261,25 +218,4 @@ protected: Coefficients m_coeffs; }; -/** Construct a parametrized line from a 2D hyperplane - * - * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line - */ -template <typename _Scalar, int _AmbientDim> -ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane) -{ - EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2); - direction() = hyperplane.normal().unitOrthogonal(); - origin() = -hyperplane.normal()*hyperplane.offset(); -} - -/** \returns the parameter value of the intersection between *this and the given hyperplane - */ -template <typename _Scalar, int _AmbientDim> -inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane) -{ - return -(hyperplane.offset()+origin().dot(hyperplane.normal())) - /(direction().dot(hyperplane.normal())); -} - #endif // EIGEN_HYPERPLANE_H diff --git a/Eigen/src/Geometry/ParametrizedLine.h b/Eigen/src/Geometry/ParametrizedLine.h new file mode 100644 index 000000000..41dabc38b --- /dev/null +++ b/Eigen/src/Geometry/ParametrizedLine.h @@ -0,0 +1,118 @@ +// 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@math.jussieu.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/>. + +#ifndef EIGEN_PARAMETRIZEDLINE_H +#define EIGEN_PARAMETRIZEDLINE_H + +/** \geometry_module \ingroup GeometryModule + * + * \class ParametrizedLine + * + * \brief A parametrized line + * + * \param _Scalar the scalar type, i.e., the type of the coefficients + * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic. + * Notice that the dimension of the hyperplane is _AmbientDim-1. + */ +template <typename _Scalar, int _AmbientDim> +class ParametrizedLine + #ifdef EIGEN_VECTORIZE + : public ei_with_aligned_operator_new<_Scalar,_AmbientDim> + #endif +{ + public: + + enum { AmbientDimAtCompileTime = _AmbientDim }; + typedef _Scalar Scalar; + typedef typename NumTraits<Scalar>::Real RealScalar; + typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType; + + /** Default constructor without initialization */ + inline explicit ParametrizedLine(int _dim = AmbientDimAtCompileTime) + : m_origin(_dim), m_direction(_dim) + {} + + ParametrizedLine(const VectorType& origin, const VectorType& direction) + : m_origin(origin), m_direction(direction) {} + explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane); + + ~ParametrizedLine() {} + + /** \returns the dimension in which the line holds */ + inline int dim() const { return m_direction.size(); } + + const VectorType& origin() const { return m_origin; } + VectorType& origin() { return m_origin; } + + const VectorType& direction() const { return m_direction; } + VectorType& direction() { return m_direction; } + + /** \returns the squared distance of a point \a p to its projection onto the line \c *this. + * \sa distance() + */ + RealScalar squaredDistance(const VectorType& p) const + { + VectorType diff = p-origin(); + return (diff - diff.dot(direction())* direction()).norm2(); + } + /** \returns the distance of a point \a p to its projection onto the line \c *this. + * \sa squaredDistance() + */ + RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); } + + /** \returns the projection of a point \a p onto the line \c *this. + */ + VectorType projection(const VectorType& p) const + { return origin() + (p-origin()).dot(direction()) * direction(); } + + Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane); + + protected: + + VectorType m_origin, m_direction; +}; + +/** Construct a parametrized line from a 2D hyperplane + * + * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line + */ +template <typename _Scalar, int _AmbientDim> +inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane) +{ + EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2); + direction() = hyperplane.normal().unitOrthogonal(); + origin() = -hyperplane.normal()*hyperplane.offset(); +} + +/** \returns the parameter value of the intersection between *this and the given hyperplane + */ +template <typename _Scalar, int _AmbientDim> +inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane) +{ + return -(hyperplane.offset()+origin().dot(hyperplane.normal())) + /(direction().dot(hyperplane.normal())); +} + +#endif // EIGEN_PARAMETRIZEDLINE_H diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 505cfd70d..4a58aa8f7 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -120,6 +120,7 @@ EI_ADD_TEST(eigensolver) EI_ADD_TEST(svd) EI_ADD_TEST(geometry) EI_ADD_TEST(hyperplane) +EI_ADD_TEST(parametrizedline) EI_ADD_TEST(regression) EI_ADD_TEST(sparse) diff --git a/test/geometry.cpp b/test/geometry.cpp index 10e6bbe92..cb9726346 100644 --- a/test/geometry.cpp +++ b/test/geometry.cpp @@ -74,7 +74,7 @@ template<typename Scalar> void geometry(void) VERIFY_IS_APPROX(v0, AngleAxis(a, v0.normalized()) * v0); VERIFY_IS_APPROX(-v0, AngleAxis(M_PI, v0.unitOrthogonal()) * v0); - VERIFY_IS_APPROX(cos(a)*v0.norm2(), v0.dot(AngleAxis(a, v0.unitOrthogonal()) * v0)); + VERIFY_IS_APPROX(ei_cos(a)*v0.norm2(), v0.dot(AngleAxis(a, v0.unitOrthogonal()) * v0)); m = AngleAxis(a, v0.normalized()).toRotationMatrix().adjoint(); VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxis(a, v0.normalized())); VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxis(a, v0.normalized()) * m); diff --git a/test/hyperplane.cpp b/test/hyperplane.cpp index 3ebdf4e6d..0418c71b2 100644 --- a/test/hyperplane.cpp +++ b/test/hyperplane.cpp @@ -2,6 +2,7 @@ // 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@math.jussieu.fr> // // Eigen is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public @@ -54,7 +55,6 @@ template<typename HyperplaneType> void hyperplane(const HyperplaneType& _plane) Scalar s1 = ei_random<Scalar>(); VERIFY_IS_APPROX( n1.dot(n1), Scalar(1) ); - 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 ); @@ -96,6 +96,9 @@ template<typename Scalar> void lines() 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); diff --git a/test/main.h b/test/main.h index 4e9621543..5079fdb5b 100644 --- a/test/main.h +++ b/test/main.h @@ -229,7 +229,6 @@ inline bool test_ei_isMuchSmallerThan(const MatrixBase<Derived>& m, void EI_PP_CAT(test_,EIGEN_TEST_FUNC)(); using namespace Eigen; -using namespace std; int main(int argc, char *argv[]) { @@ -245,14 +244,14 @@ int main(int argc, char *argv[]) { if(has_set_repeat) { - cout << "Argument " << argv[i] << " conflicting with a former argument" << endl; + std::cout << "Argument " << argv[i] << " conflicting with a former argument" << std::endl; return 1; } repeat = atoi(argv[i]+1); has_set_repeat = true; if(repeat <= 0) { - cout << "Invalid \'repeat\' value " << argv[i]+1 << endl; + std::cout << "Invalid \'repeat\' value " << argv[i]+1 << std::endl; return 1; } } @@ -260,7 +259,7 @@ int main(int argc, char *argv[]) { if(has_set_seed) { - cout << "Argument " << argv[i] << " conflicting with a former argument" << endl; + std::cout << "Argument " << argv[i] << " conflicting with a former argument" << std::endl; return 1; } seed = strtoul(argv[i]+1, 0, 10); @@ -268,7 +267,7 @@ int main(int argc, char *argv[]) bool ok = seed!=0; if(!ok) { - cout << "Invalid \'seed\' value " << argv[i]+1 << endl; + std::cout << "Invalid \'seed\' value " << argv[i]+1 << std::endl; return 1; } } @@ -280,18 +279,18 @@ int main(int argc, char *argv[]) if(need_help) { - cout << "This test application takes the following optional arguments:" << endl; - cout << " rN Repeat each test N times (default: " << DEFAULT_REPEAT << ")" << endl; - cout << " sN Use N as seed for random numbers (default: based on current time)" << endl; + std::cout << "This test application takes the following optional arguments:" << std::endl; + std::cout << " rN Repeat each test N times (default: " << DEFAULT_REPEAT << ")" << std::endl; + std::cout << " sN Use N as seed for random numbers (default: based on current time)" << std::endl; return 1; } if(!has_set_seed) seed = (unsigned int) time(NULL); if(!has_set_repeat) repeat = DEFAULT_REPEAT; - cout << "Initializing random number generator with seed " << seed << endl; + std::cout << "Initializing random number generator with seed " << seed << std::endl; srand(seed); - cout << "Repeating each test " << repeat << " times" << endl; + std::cout << "Repeating each test " << repeat << " times" << std::endl; Eigen::g_repeat = repeat; Eigen::g_test_stack.push_back(EI_PP_MAKE_STRING(EIGEN_TEST_FUNC)); diff --git a/test/parametrizedline.cpp b/test/parametrizedline.cpp new file mode 100644 index 000000000..82962807d --- /dev/null +++ b/test/parametrizedline.cpp @@ -0,0 +1,69 @@ +// 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@math.jussieu.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/QR> + +template<typename LineType> void parametrizedline(const LineType& _line) +{ + /* this test covers the following files: + ParametrizedLine.h + */ + + const int dim = _line.dim(); + typedef typename LineType::Scalar Scalar; + typedef typename NumTraits<Scalar>::Real RealScalar; + typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType; + typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, + LineType::AmbientDimAtCompileTime> MatrixType; + + VectorType p0 = VectorType::Random(dim); + VectorType p1 = VectorType::Random(dim); + + VectorType d0 = VectorType::Random(dim).normalized(); + + LineType l0(p0, d0); + + Scalar s0 = ei_random<Scalar>(); + Scalar s1 = ei_abs(ei_random<Scalar>()); + + VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) ); + VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) ); + VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) ); + VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) ); + VERIFY_IS_APPROX( l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1), s1 ); +} + +void test_parametrizedline() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST( parametrizedline(ParametrizedLine<float,2>()) ); + CALL_SUBTEST( parametrizedline(ParametrizedLine<float,3>()) ); + CALL_SUBTEST( parametrizedline(ParametrizedLine<double,4>()) ); + CALL_SUBTEST( parametrizedline(ParametrizedLine<std::complex<double>,5>()) ); + } +} |