From d2e44f263631981d9e547caafe36b1de5ba785f9 Mon Sep 17 00:00:00 2001 From: Benoit Jacob Date: Wed, 9 Dec 2009 12:43:25 -0500 Subject: * 4x4 inverse: revert to cofactors method * inverse tests: use createRandomMatrixOfRank, use more strict precision * tests: createRandomMatrixOfRank: support 1x1 matrices * determinant: nest the xpr * Minor: add comment --- test/prec_inverse_4x4.cpp | 28 +++------------------------- 1 file changed, 3 insertions(+), 25 deletions(-) (limited to 'test/prec_inverse_4x4.cpp') diff --git a/test/prec_inverse_4x4.cpp b/test/prec_inverse_4x4.cpp index 613535346..83b1a8a71 100644 --- a/test/prec_inverse_4x4.cpp +++ b/test/prec_inverse_4x4.cpp @@ -26,28 +26,6 @@ #include #include -Matrix4f inverse(const Matrix4f& m) -{ - Matrix4f r; - r(0,0) = m.minor(0,0).determinant(); - r(1,0) = -m.minor(0,1).determinant(); - r(2,0) = m.minor(0,2).determinant(); - r(3,0) = -m.minor(0,3).determinant(); - r(0,2) = m.minor(2,0).determinant(); - r(1,2) = -m.minor(2,1).determinant(); - r(2,2) = m.minor(2,2).determinant(); - r(3,2) = -m.minor(2,3).determinant(); - r(0,1) = -m.minor(1,0).determinant(); - r(1,1) = m.minor(1,1).determinant(); - r(2,1) = -m.minor(1,2).determinant(); - r(3,1) = m.minor(1,3).determinant(); - r(0,3) = -m.minor(3,0).determinant(); - r(1,3) = m.minor(3,1).determinant(); - r(2,3) = -m.minor(3,2).determinant(); - r(3,3) = m.minor(3,3).determinant(); - return r / (m(0,0)*r(0,0) + m(1,0)*r(0,1) + m(2,0)*r(0,2) + m(3,0)*r(0,3)); -} - template void inverse_permutation_4x4() { typedef typename MatrixType::Scalar Scalar; @@ -79,7 +57,7 @@ template void inverse_general_4x4(int repeat) do { m = MatrixType::Random(); absdet = ei_abs(m.determinant()); - } while(absdet < 10 * epsilon()); + } while(absdet < epsilon()); MatrixType inv = m.inverse(); double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / epsilon() ); error_sum += error; @@ -89,8 +67,8 @@ template void inverse_general_4x4(int repeat) double error_avg = error_sum / repeat; EIGEN_DEBUG_VAR(error_avg); EIGEN_DEBUG_VAR(error_max); - VERIFY(error_avg < (NumTraits::IsComplex ? 8.4 : 1.4) ); - VERIFY(error_max < (NumTraits::IsComplex ? 160.0 : 75.) ); + VERIFY(error_avg < (NumTraits::IsComplex ? 8.0 : 1.0)); + VERIFY(error_max < (NumTraits::IsComplex ? 64.0 : 16.0)); } void test_prec_inverse_4x4() -- cgit v1.2.3