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// 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; typedef typename LineType::Index Index; 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>()) ); } }
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