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
|
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@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/Geometry>
#include <Eigen/LU>
#include <Eigen/QR>
template<typename LineType> void parametrizedline(const LineType& _line)
{
/* this test covers the following files:
ParametrizedLine.h
*/
using std::abs;
const Index dim = _line.dim();
typedef typename LineType::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
VectorType p0 = VectorType::Random(dim);
VectorType p1 = VectorType::Random(dim);
VectorType d0 = VectorType::Random(dim).normalized();
LineType l0(p0, d0);
Scalar s0 = internal::random<Scalar>();
Scalar s1 = abs(internal::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( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 );
// casting
const int Dim = LineType::AmbientDimAtCompileTime;
typedef typename GetDifferentType<Scalar>::type OtherScalar;
ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>();
VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0);
ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>();
VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);
// intersections
VectorType p2 = VectorType::Random(dim);
VectorType n2 = VectorType::Random(dim).normalized();
HyperplaneType hp(p2,n2);
Scalar t = l0.intersectionParameter(hp);
VectorType pi = l0.pointAt(t);
VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);
}
template<typename Scalar> void parametrizedline_alignment()
{
typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;
EIGEN_ALIGN_MAX Scalar array1[16];
EIGEN_ALIGN_MAX Scalar array2[16];
EIGEN_ALIGN_MAX Scalar array3[16+1];
Scalar* array3u = array3+1;
Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;
p1->origin().setRandom();
p1->direction().setRandom();
*p2 = *p1;
*p3 = *p1;
VERIFY_IS_APPROX(p1->origin(), p2->origin());
VERIFY_IS_APPROX(p1->origin(), p3->origin());
VERIFY_IS_APPROX(p1->direction(), p2->direction());
VERIFY_IS_APPROX(p1->direction(), p3->direction());
#if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
if(internal::packet_traits<Scalar>::Vectorizable && internal::packet_traits<Scalar>::size<=4)
VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Line4a));
#endif
}
void test_geo_parametrizedline()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
CALL_SUBTEST_2( parametrizedline_alignment<float>() );
CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
CALL_SUBTEST_3( parametrizedline_alignment<double>() );
CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
}
}
|
