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Diffstat (limited to 'test/eigen2/eigen2_hyperplane.cpp')
| -rw-r--r-- | test/eigen2/eigen2_hyperplane.cpp | 126 |
1 files changed, 126 insertions, 0 deletions
diff --git a/test/eigen2/eigen2_hyperplane.cpp b/test/eigen2/eigen2_hyperplane.cpp new file mode 100644 index 000000000..f3f85e14d --- /dev/null +++ b/test/eigen2/eigen2_hyperplane.cpp @@ -0,0 +1,126 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. Eigen itself is part of the KDE project. +// +// Copyright (C) 2008 Gael Guennebaud <g.gael@free.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 HyperplaneType> void hyperplane(const HyperplaneType& _plane) +{ + /* this test covers the following files: + Hyperplane.h + */ + + const int dim = _plane.dim(); + typedef typename HyperplaneType::Scalar Scalar; + typedef typename NumTraits<Scalar>::Real RealScalar; + typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, 1> VectorType; + typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime, + HyperplaneType::AmbientDimAtCompileTime> MatrixType; + + VectorType p0 = VectorType::Random(dim); + VectorType p1 = VectorType::Random(dim); + + VectorType n0 = VectorType::Random(dim).normalized(); + VectorType n1 = VectorType::Random(dim).normalized(); + + HyperplaneType pl0(n0, p0); + HyperplaneType pl1(n1, p1); + HyperplaneType pl2 = pl1; + + Scalar s0 = ei_random<Scalar>(); + Scalar s1 = ei_random<Scalar>(); + + VERIFY_IS_APPROX( n1.eigen2_dot(n1), Scalar(1) ); + + VERIFY_IS_MUCH_SMALLER_THAN( pl0.absDistance(p0), Scalar(1) ); + VERIFY_IS_APPROX( pl1.signedDistance(p1 + n1 * s0), s0 ); + VERIFY_IS_MUCH_SMALLER_THAN( pl1.signedDistance(pl1.projection(p0)), Scalar(1) ); + VERIFY_IS_MUCH_SMALLER_THAN( pl1.absDistance(p1 + pl1.normal().unitOrthogonal() * s1), Scalar(1) ); + + // transform + if (!NumTraits<Scalar>::IsComplex) + { + MatrixType rot = MatrixType::Random(dim,dim).qr().matrixQ(); + Scaling<Scalar,HyperplaneType::AmbientDimAtCompileTime> scaling(VectorType::Random()); + Translation<Scalar,HyperplaneType::AmbientDimAtCompileTime> translation(VectorType::Random()); + + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot).absDistance(rot * p1), Scalar(1) ); + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot,Isometry).absDistance(rot * p1), Scalar(1) ); + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling).absDistance((rot*scaling) * p1), Scalar(1) ); + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*scaling*translation) + .absDistance((rot*scaling*translation) * p1), Scalar(1) ); + pl2 = pl1; + VERIFY_IS_MUCH_SMALLER_THAN( pl2.transform(rot*translation,Isometry) + .absDistance((rot*translation) * p1), Scalar(1) ); + } + + // casting + const int Dim = HyperplaneType::AmbientDimAtCompileTime; + typedef typename GetDifferentType<Scalar>::type OtherScalar; + Hyperplane<OtherScalar,Dim> hp1f = pl1.template cast<OtherScalar>(); + VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),pl1); + Hyperplane<Scalar,Dim> hp1d = pl1.template cast<Scalar>(); + VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),pl1); +} + +template<typename Scalar> void lines() +{ + typedef Hyperplane<Scalar, 2> HLine; + typedef ParametrizedLine<Scalar, 2> PLine; + typedef Matrix<Scalar,2,1> Vector; + typedef Matrix<Scalar,3,1> CoeffsType; + + for(int i = 0; i < 10; i++) + { + Vector center = Vector::Random(); + Vector u = Vector::Random(); + Vector v = Vector::Random(); + Scalar a = ei_random<Scalar>(); + while (ei_abs(a-1) < 1e-4) a = ei_random<Scalar>(); + while (u.norm() < 1e-4) u = Vector::Random(); + while (v.norm() < 1e-4) v = Vector::Random(); + + HLine line_u = HLine::Through(center + u, center + a*u); + HLine line_v = HLine::Through(center + v, center + a*v); + + // the line equations should be normalized so that a^2+b^2=1 + VERIFY_IS_APPROX(line_u.normal().norm(), Scalar(1)); + VERIFY_IS_APPROX(line_v.normal().norm(), Scalar(1)); + + Vector result = line_u.intersection(line_v); + + // the lines should intersect at the point we called "center" + VERIFY_IS_APPROX(result, center); + + // check conversions between two types of lines + PLine pl(line_u); // gcc 3.3 will commit suicide if we don't name this variable + CoeffsType converted_coeffs(HLine(pl).coeffs()); + converted_coeffs *= line_u.coeffs()(0)/converted_coeffs(0); + VERIFY(line_u.coeffs().isApprox(converted_coeffs)); + } +} + +void test_eigen2_hyperplane() +{ + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_1( hyperplane(Hyperplane<float,2>()) ); + CALL_SUBTEST_2( hyperplane(Hyperplane<float,3>()) ); + CALL_SUBTEST_3( hyperplane(Hyperplane<double,4>()) ); + CALL_SUBTEST_4( hyperplane(Hyperplane<std::complex<double>,5>()) ); + CALL_SUBTEST_5( lines<float>() ); + CALL_SUBTEST_6( lines<double>() ); + } +} |