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

  1. // This file is part of Eigen, a lightweight C++ template library
  2. // for linear algebra.
  3. //
  4. // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
  5. //
  6. // This Source Code Form is subject to the terms of the Mozilla
  7. // Public License v. 2.0. If a copy of the MPL was not distributed
  8. // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
  9. #include "main.h"
  10. #include <unsupported/StormEigen/AlignedVector3>
  11. namespace StormEigen {
  12. template<typename T,typename Derived>
  13. T test_relative_error(const AlignedVector3<T> &a, const MatrixBase<Derived> &b)
  14. {
  15. return test_relative_error(a.coeffs().template head<3>(), b);
  16. }
  17. }
  18. template<typename Scalar>
  19. void alignedvector3()
  20. {
  21. Scalar s1 = internal::random<Scalar>();
  22. Scalar s2 = internal::random<Scalar>();
  23. typedef Matrix<Scalar,3,1> RefType;
  24. typedef Matrix<Scalar,3,3> Mat33;
  25. typedef AlignedVector3<Scalar> FastType;
  26. RefType r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
  27. r4(RefType::Random()), r5(RefType::Random());
  28. FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5);
  29. Mat33 m1(Mat33::Random());
  30. VERIFY_IS_APPROX(f1,r1);
  31. VERIFY_IS_APPROX(f4,r4);
  32. VERIFY_IS_APPROX(f4+f1,r4+r1);
  33. VERIFY_IS_APPROX(f4-f1,r4-r1);
  34. VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
  35. VERIFY_IS_APPROX(f4+=f3,r4+=r3);
  36. VERIFY_IS_APPROX(f4-=f5,r4-=r5);
  37. VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
  38. VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
  39. VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
  40. VERIFY_IS_APPROX(m1*f4,m1*r4);
  41. VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
  42. VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
  43. VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
  44. VERIFY_IS_APPROX(f2.norm(),r2.norm());
  45. VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
  46. VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
  47. f2.normalize();
  48. r2.normalize();
  49. VERIFY_IS_APPROX(f2,r2);
  50. {
  51. FastType f6 = RefType::Zero();
  52. FastType f7 = FastType::Zero();
  53. VERIFY_IS_APPROX(f6,f7);
  54. f6 = r4+r1;
  55. VERIFY_IS_APPROX(f6,r4+r1);
  56. f6 -= Scalar(2)*r4;
  57. VERIFY_IS_APPROX(f6,r1-r4);
  58. }
  59. std::stringstream ss1, ss2;
  60. ss1 << f1;
  61. ss2 << r1;
  62. VERIFY(ss1.str()==ss2.str());
  63. }
  64. void test_alignedvector3()
  65. {
  66. for(int i = 0; i < g_repeat; i++) {
  67. CALL_SUBTEST( alignedvector3<float>() );
  68. }
  69. }