122 lines
4.8 KiB
C++
122 lines
4.8 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>
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void parametrizedline(const LineType &_line) {
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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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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, 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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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).distance((rot * scaling * translation) * p3),
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Scalar(1));
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l1 = l0;
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VERIFY_IS_MUCH_SMALLER_THAN(l1.transform(rot * translation, Isometry).distance((rot * translation) * p3),
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Scalar(1));
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}
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}
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template <typename Scalar>
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void parametrizedline_alignment() {
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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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}
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EIGEN_DECLARE_TEST(geo_parametrizedline) {
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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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