132 lines
5.1 KiB
C++
132 lines
5.1 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "main.h"
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#include <Eigen/Geometry>
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#include <Eigen/LU>
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#include <Eigen/QR>
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template<typename LineType> void parametrizedline(const LineType& _line)
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{
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/* this test covers the following files:
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ParametrizedLine.h
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*/
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using std::abs;
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typedef typename LineType::Index Index;
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const Index dim = _line.dim();
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typedef typename LineType::Scalar Scalar;
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typedef typename NumTraits<Scalar>::Real RealScalar;
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typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
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typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
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typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime,
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HyperplaneType::AmbientDimAtCompileTime> MatrixType;
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VectorType p0 = VectorType::Random(dim);
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VectorType p1 = VectorType::Random(dim);
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VectorType d0 = VectorType::Random(dim).normalized();
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LineType l0(p0, d0);
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Scalar s0 = internal::random<Scalar>();
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Scalar s1 = abs(internal::random<Scalar>());
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VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) );
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VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) );
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VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) );
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VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) );
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VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 );
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// casting
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const int Dim = LineType::AmbientDimAtCompileTime;
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typedef typename GetDifferentType<Scalar>::type OtherScalar;
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ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>();
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VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0);
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ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>();
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VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);
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// intersections
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VectorType p2 = VectorType::Random(dim);
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VectorType n2 = VectorType::Random(dim).normalized();
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HyperplaneType hp(p2,n2);
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Scalar t = l0.intersectionParameter(hp);
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VectorType pi = l0.pointAt(t);
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VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
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VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
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VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);
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// transform
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if (!NumTraits<Scalar>::IsComplex)
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{
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MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ();
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DiagonalMatrix<Scalar,LineType::AmbientDimAtCompileTime> scaling(VectorType::Random());
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Translation<Scalar,LineType::AmbientDimAtCompileTime> translation(VectorType::Random());
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while(scaling.diagonal().cwiseAbs().minCoeff()<RealScalar(1e-4)) scaling.diagonal() = VectorType::Random();
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LineType l1 = l0;
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VectorType p3 = l0.pointAt(Scalar(1));
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VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot).distance(rot * p3), Scalar(1) );
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l1 = l0;
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VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot,Isometry).distance(rot * p3), Scalar(1) );
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l1 = l0;
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VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling).distance((rot*scaling) * p3), Scalar(1) );
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l1 = l0;
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VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling*translation)
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.distance((rot*scaling*translation) * p3), Scalar(1) );
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l1 = l0;
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VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*translation,Isometry)
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.distance((rot*translation) * p3), Scalar(1) );
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}
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}
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template<typename Scalar> void parametrizedline_alignment()
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{
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typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
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typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;
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EIGEN_ALIGN_MAX Scalar array1[16];
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EIGEN_ALIGN_MAX Scalar array2[16];
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EIGEN_ALIGN_MAX Scalar array3[16+1];
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Scalar* array3u = array3+1;
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Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
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Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
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Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;
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p1->origin().setRandom();
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p1->direction().setRandom();
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*p2 = *p1;
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*p3 = *p1;
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VERIFY_IS_APPROX(p1->origin(), p2->origin());
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VERIFY_IS_APPROX(p1->origin(), p3->origin());
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VERIFY_IS_APPROX(p1->direction(), p2->direction());
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VERIFY_IS_APPROX(p1->direction(), p3->direction());
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#if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
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if(internal::packet_traits<Scalar>::Vectorizable && internal::packet_traits<Scalar>::size<=4)
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VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Line4a));
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#endif
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}
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void test_geo_parametrizedline()
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{
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for(int i = 0; i < g_repeat; i++) {
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CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
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CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
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CALL_SUBTEST_2( parametrizedline_alignment<float>() );
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CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
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CALL_SUBTEST_3( parametrizedline_alignment<double>() );
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CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
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}
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}
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