You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 lines
2.3 KiB
84 lines
2.3 KiB
// This file is part of Eigen, a lightweight C++ template library
|
|
// for linear algebra.
|
|
//
|
|
// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
|
|
//
|
|
// 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 <unsupported/Eigen/AlignedVector3>
|
|
|
|
namespace StormEigen {
|
|
|
|
template<typename T,typename Derived>
|
|
T test_relative_error(const AlignedVector3<T> &a, const MatrixBase<Derived> &b)
|
|
{
|
|
return test_relative_error(a.coeffs().template head<3>(), b);
|
|
}
|
|
|
|
}
|
|
|
|
template<typename Scalar>
|
|
void alignedvector3()
|
|
{
|
|
Scalar s1 = internal::random<Scalar>();
|
|
Scalar s2 = internal::random<Scalar>();
|
|
typedef Matrix<Scalar,3,1> RefType;
|
|
typedef Matrix<Scalar,3,3> Mat33;
|
|
typedef AlignedVector3<Scalar> FastType;
|
|
RefType r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
|
|
r4(RefType::Random()), r5(RefType::Random());
|
|
FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5);
|
|
Mat33 m1(Mat33::Random());
|
|
|
|
VERIFY_IS_APPROX(f1,r1);
|
|
VERIFY_IS_APPROX(f4,r4);
|
|
|
|
VERIFY_IS_APPROX(f4+f1,r4+r1);
|
|
VERIFY_IS_APPROX(f4-f1,r4-r1);
|
|
VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
|
|
VERIFY_IS_APPROX(f4+=f3,r4+=r3);
|
|
VERIFY_IS_APPROX(f4-=f5,r4-=r5);
|
|
VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
|
|
VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
|
|
VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
|
|
|
|
VERIFY_IS_APPROX(m1*f4,m1*r4);
|
|
VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
|
|
|
|
VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
|
|
VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
|
|
VERIFY_IS_APPROX(f2.norm(),r2.norm());
|
|
|
|
VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
|
|
|
|
VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
|
|
|
|
f2.normalize();
|
|
r2.normalize();
|
|
VERIFY_IS_APPROX(f2,r2);
|
|
|
|
{
|
|
FastType f6 = RefType::Zero();
|
|
FastType f7 = FastType::Zero();
|
|
VERIFY_IS_APPROX(f6,f7);
|
|
f6 = r4+r1;
|
|
VERIFY_IS_APPROX(f6,r4+r1);
|
|
f6 -= Scalar(2)*r4;
|
|
VERIFY_IS_APPROX(f6,r1-r4);
|
|
}
|
|
|
|
std::stringstream ss1, ss2;
|
|
ss1 << f1;
|
|
ss2 << r1;
|
|
VERIFY(ss1.str()==ss2.str());
|
|
}
|
|
|
|
void test_alignedvector3()
|
|
{
|
|
for(int i = 0; i < g_repeat; i++) {
|
|
CALL_SUBTEST( alignedvector3<float>() );
|
|
}
|
|
}
|