From fc13b37c552c6661c81f135cf94edc3de09d2000 Mon Sep 17 00:00:00 2001 From: Gael Guennebaud Date: Fri, 1 Aug 2014 14:47:33 +0200 Subject: Make cross product uses nested/nested_eval --- test/geo_orthomethods.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'test/geo_orthomethods.cpp') diff --git a/test/geo_orthomethods.cpp b/test/geo_orthomethods.cpp index c836dae40..2b50c16e7 100644 --- a/test/geo_orthomethods.cpp +++ b/test/geo_orthomethods.cpp @@ -33,6 +33,7 @@ template void orthomethods_3() VERIFY_IS_MUCH_SMALLER_THAN(v1.dot(v1.cross(v2)), Scalar(1)); VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v2), Scalar(1)); VERIFY_IS_MUCH_SMALLER_THAN(v2.dot(v1.cross(v2)), Scalar(1)); + VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(Vector3::Random()).dot(v1), Scalar(1)); Matrix3 mat3; mat3 << v0.normalized(), (v0.cross(v1)).normalized(), @@ -47,6 +48,13 @@ template void orthomethods_3() int i = internal::random(0,2); mcross = mat3.colwise().cross(vec3); VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3)); + + VERIFY_IS_MUCH_SMALLER_THAN((mat3.transpose() * mat3.colwise().cross(vec3)).diagonal().cwiseAbs().sum(), Scalar(1)); + VERIFY_IS_MUCH_SMALLER_THAN((mat3.transpose() * mat3.colwise().cross(Vector3::Random())).diagonal().cwiseAbs().sum(), Scalar(1)); + + VERIFY_IS_MUCH_SMALLER_THAN((vec3.transpose() * mat3.colwise().cross(vec3)).cwiseAbs().sum(), Scalar(1)); + VERIFY_IS_MUCH_SMALLER_THAN((vec3.transpose() * Matrix3::Random().colwise().cross(vec3)).cwiseAbs().sum(), Scalar(1)); + mcross = mat3.rowwise().cross(vec3); VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3)); @@ -57,6 +65,7 @@ template void orthomethods_3() v40.w() = v41.w() = v42.w() = 0; v42.template head<3>() = v40.template head<3>().cross(v41.template head<3>()); VERIFY_IS_APPROX(v40.cross3(v41), v42); + VERIFY_IS_MUCH_SMALLER_THAN(v40.cross3(Vector4::Random()).dot(v40), Scalar(1)); // check mixed product typedef Matrix RealVector3; -- cgit v1.2.3