1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
|
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#include "main.h"
#include <Eigen/StdList>
#include <Eigen/Geometry>
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Vector4f)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Matrix2f)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Matrix4f)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Matrix4d)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Affine3f)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Affine3d)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Quaternionf)
EIGEN_DEFINE_STL_LIST_SPECIALIZATION(Quaterniond)
template <class Container, class Position>
typename Container::iterator get(Container & c, Position position)
{
typename Container::iterator it = c.begin();
std::advance(it, position);
return it;
}
template <class Container, class Position, class Value>
void set(Container & c, Position position, const Value & value)
{
typename Container::iterator it = c.begin();
std::advance(it, position);
*it = value;
}
template<typename MatrixType>
void check_stdlist_matrix(const MatrixType& m)
{
Index rows = m.rows();
Index cols = m.cols();
MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols);
std::list<MatrixType> v(10, MatrixType::Zero(rows,cols)), w(20, y);
typename std::list<MatrixType>::iterator itv = get(v, 5);
typename std::list<MatrixType>::iterator itw = get(w, 6);
*itv = x;
*itw = *itv;
VERIFY_IS_APPROX(*itw, *itv);
v = w;
itv = v.begin();
itw = w.begin();
for(int i = 0; i < 20; i++)
{
VERIFY_IS_APPROX(*itw, *itv);
++itv;
++itw;
}
v.resize(21);
set(v, 20, x);
VERIFY_IS_APPROX(*get(v, 20), x);
v.resize(22,y);
VERIFY_IS_APPROX(*get(v, 21), y);
v.push_back(x);
VERIFY_IS_APPROX(*get(v, 22), x);
// do a lot of push_back such that the list gets internally resized
// (with memory reallocation)
MatrixType* ref = &(*get(w, 0));
for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i)
v.push_back(*get(w, i%w.size()));
for(unsigned int i=23; i<v.size(); ++i)
{
VERIFY((*get(v, i))==(*get(w, (i-23)%w.size())));
}
}
template<typename TransformType>
void check_stdlist_transform(const TransformType&)
{
typedef typename TransformType::MatrixType MatrixType;
TransformType x(MatrixType::Random()), y(MatrixType::Random()), ti=TransformType::Identity();
std::list<TransformType> v(10,ti), w(20, y);
typename std::list<TransformType>::iterator itv = get(v, 5);
typename std::list<TransformType>::iterator itw = get(w, 6);
*itv = x;
*itw = *itv;
VERIFY_IS_APPROX(*itw, *itv);
v = w;
itv = v.begin();
itw = w.begin();
for(int i = 0; i < 20; i++)
{
VERIFY_IS_APPROX(*itw, *itv);
++itv;
++itw;
}
v.resize(21, ti);
set(v, 20, x);
VERIFY_IS_APPROX(*get(v, 20), x);
v.resize(22,y);
VERIFY_IS_APPROX(*get(v, 21), y);
v.push_back(x);
VERIFY_IS_APPROX(*get(v, 22), x);
// do a lot of push_back such that the list gets internally resized
// (with memory reallocation)
TransformType* ref = &(*get(w, 0));
for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i)
v.push_back(*get(w, i%w.size()));
for(unsigned int i=23; i<v.size(); ++i)
{
VERIFY(get(v, i)->matrix()==get(w, (i-23)%w.size())->matrix());
}
}
template<typename QuaternionType>
void check_stdlist_quaternion(const QuaternionType&)
{
typedef typename QuaternionType::Coefficients Coefficients;
QuaternionType x(Coefficients::Random()), y(Coefficients::Random()), qi=QuaternionType::Identity();
std::list<QuaternionType> v(10,qi), w(20, y);
typename std::list<QuaternionType>::iterator itv = get(v, 5);
typename std::list<QuaternionType>::iterator itw = get(w, 6);
*itv = x;
*itw = *itv;
VERIFY_IS_APPROX(*itw, *itv);
v = w;
itv = v.begin();
itw = w.begin();
for(int i = 0; i < 20; i++)
{
VERIFY_IS_APPROX(*itw, *itv);
++itv;
++itw;
}
v.resize(21,qi);
set(v, 20, x);
VERIFY_IS_APPROX(*get(v, 20), x);
v.resize(22,y);
VERIFY_IS_APPROX(*get(v, 21), y);
v.push_back(x);
VERIFY_IS_APPROX(*get(v, 22), x);
// do a lot of push_back such that the list gets internally resized
// (with memory reallocation)
QuaternionType* ref = &(*get(w, 0));
for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i)
v.push_back(*get(w, i%w.size()));
for(unsigned int i=23; i<v.size(); ++i)
{
VERIFY(get(v, i)->coeffs()==get(w, (i-23)%w.size())->coeffs());
}
}
EIGEN_DECLARE_TEST(stdlist_overload)
{
// some non vectorizable fixed sizes
CALL_SUBTEST_1(check_stdlist_matrix(Vector2f()));
CALL_SUBTEST_1(check_stdlist_matrix(Matrix3f()));
CALL_SUBTEST_2(check_stdlist_matrix(Matrix3d()));
// some vectorizable fixed sizes
CALL_SUBTEST_1(check_stdlist_matrix(Matrix2f()));
CALL_SUBTEST_1(check_stdlist_matrix(Vector4f()));
CALL_SUBTEST_1(check_stdlist_matrix(Matrix4f()));
CALL_SUBTEST_2(check_stdlist_matrix(Matrix4d()));
// some dynamic sizes
CALL_SUBTEST_3(check_stdlist_matrix(MatrixXd(1,1)));
CALL_SUBTEST_3(check_stdlist_matrix(VectorXd(20)));
CALL_SUBTEST_3(check_stdlist_matrix(RowVectorXf(20)));
CALL_SUBTEST_3(check_stdlist_matrix(MatrixXcf(10,10)));
// some Transform
CALL_SUBTEST_4(check_stdlist_transform(Affine2f())); // does not need the specialization (2+1)^2 = 9
CALL_SUBTEST_4(check_stdlist_transform(Affine3f()));
CALL_SUBTEST_4(check_stdlist_transform(Affine3d()));
// some Quaternion
CALL_SUBTEST_5(check_stdlist_quaternion(Quaternionf()));
CALL_SUBTEST_5(check_stdlist_quaternion(Quaterniond()));
}
|
